WorldWideScience

Sample records for fast tool servos

  1. A Quasiphysics Intelligent Model for a Long Range Fast Tool Servo

    Science.gov (United States)

    Liu, Qiang; Zhou, Xiaoqin; Lin, Jieqiong; Xu, Pengzi; Zhu, Zhiwei

    2013-01-01

    Accurately modeling the dynamic behaviors of fast tool servo (FTS) is one of the key issues in the ultraprecision positioning of the cutting tool. Herein, a quasiphysics intelligent model (QPIM) integrating a linear physics model (LPM) and a radial basis function (RBF) based neural model (NM) is developed to accurately describe the dynamic behaviors of a voice coil motor (VCM) actuated long range fast tool servo (LFTS). To identify the parameters of the LPM, a novel Opposition-based Self-adaptive Replacement Differential Evolution (OSaRDE) algorithm is proposed which has been proved to have a faster convergence mechanism without compromising with the quality of solution and outperform than similar evolution algorithms taken for consideration. The modeling errors of the LPM and the QPIM are investigated by experiments. The modeling error of the LPM presents an obvious trend component which is about ±1.15% of the full span range verifying the efficiency of the proposed OSaRDE algorithm for system identification. As for the QPIM, the trend component in the residual error of LPM can be well suppressed, and the error of the QPIM maintains noise level. All the results verify the efficiency and superiority of the proposed modeling and identification approaches. PMID:24163627

  2. Multi-objective optimum design of fast tool servo based on improved differential evolution algorithm

    International Nuclear Information System (INIS)

    Zhu, Zhiwei; Zhou, Xiaoqin; Liu, Qiang; Zhao, Shaoxin

    2011-01-01

    The flexure-based mechanism is a promising realization of fast tool servo (FTS), and the optimum determination of flexure hinge parameters is one of the most important elements in the FTS design. This paper presents a multi-objective optimization approach to optimizing the dimension and position parameters of the flexure-based mechanism, which is based on the improved differential evolution algorithm embedding chaos and nonlinear simulated anneal algorithm. The results of optimum design show that the proposed algorithm has excellent performance and a well-balanced compromise is made between two conflicting objectives, the stroke and natural frequency of the FTS mechanism. The validation tests based on finite element analysis (FEA) show good agreement with the results obtained by using the proposed theoretical algorithm of this paper. Finally, a series of experimental tests are conducted to validate the design process and assess the performance of the FTS mechanism. The designed FTS reaches up to a stroke of 10.25 μm with at least 2 kHz bandwidth. Both of the FEA and experimental results demonstrate that the parameters of the flexure-based mechanism determined by the proposed approaches can achieve the specified performance and the proposed approach is suitable for the optimum design of FTS mechanism and of excellent performances

  3. Molecular dynamics simulation of subnanometric tool-workpiece contact on a force sensor-integrated fast tool servo for ultra-precision microcutting

    International Nuclear Information System (INIS)

    Cai, Yindi; Chen, Yuan-Liu; Shimizu, Yuki; Ito, So; Gao, Wei; Zhang, Liangchi

    2016-01-01

    Highlights: • Subnanometric contact between a diamond tool and a copper workpiece surface is investigated by MD simulation. • A multi-relaxation time technique is proposed to eliminate the influence of the atom vibrations. • The accuracy of the elastic-plastic transition contact depth estimation is improved by observing the residual defects. • The simulation results are beneficial for optimization of the next-generation microcutting instruments. - Abstract: This paper investigates the contact characteristics between a copper workpiece and a diamond tool in a force sensor-integrated fast tool servo (FS-FTS) for single point diamond microcutting and in-process measurement of ultra-precision surface forms of the workpiece. Molecular dynamics (MD) simulations are carried out to identify the subnanometric elastic-plastic transition contact depth, at which the plastic deformation in the workpiece is initiated. This critical depth can be used to optimize the FS-FTS as well as the cutting/measurement process. It is clarified that the vibrations of the copper atoms in the MD model have a great influence on the subnanometric MD simulation results. A multi-relaxation time method is then proposed to reduce the influence of the atom vibrations based on the fact that the dominant vibration component has a certain period determined by the size of the MD model. It is also identified that for a subnanometric contact depth, the position of the tool tip for the contact force to be zero during the retracting operation of the tool does not correspond to the final depth of the permanent contact impression on the workpiece surface. The accuracy for identification of the transition contact depth is then improved by observing the residual defects on the workpiece surface after the tool retracting.

  4. Freeform manufacturing of a microoptical lens array on a steep curved substrate by use of a voice coil fast tool servo.

    Science.gov (United States)

    Scheiding, Sebastian; Yi, Allen Y; Gebhardt, Andreas; Li, Lei; Risse, Stefan; Eberhardt, Ramona; Tünnermann, Andreas

    2011-11-21

    We report what is to our knowledge the first approach to diamond turn microoptical lens array on a steep curved substrate by use of a voice coil fast tool servo. In recent years ultraprecision machining has been employed to manufacture accurate optical components with 3D structure for beam shaping, imaging and nonimaging applications. As a result, geometries that are difficult or impossible to manufacture using lithographic techniques might be fabricated using small diamond tools with well defined cutting edges. These 3D structures show no rotational symmetry, but rather high frequency asymmetric features thus can be treated as freeform geometries. To transfer the 3D surface data with the high frequency freeform features into a numerical control code for machining, the commonly piecewise differentiable surfaces are represented as a cloud of individual points. Based on this numeric data, the tool radius correction is calculated to account for the cutting-edge geometry. Discontinuities of the cutting tool locations due to abrupt slope changes on the substrate surface are bridged using cubic spline interpolation.When superimposed with the trajectory of the rotationally symmetric substrate the complete microoptical geometry in 3D space is established. Details of the fabrication process and performance evaluation are described. © 2011 Optical Society of America

  5. Active control of residual tool marks for freeform optics functionalization by novel biaxial servo assisted fly cutting.

    Science.gov (United States)

    Zhu, Zhiwei; To, Suet; Zhang, Shaojian

    2015-09-01

    The inherent residual tool marks (RTM) with particular patterns highly affect optical functions of the generated freeform optics in fast tool servo or slow tool servo (FTS/STS) diamond turning. In the present study, a novel biaxial servo assisted fly cutting (BSFC) method is developed for flexible control of the RTM to be a functional micro/nanotexture in freeform optics generation, which is generally hard to achieve in FTS/STS diamond turning. In the BSFC system, biaxial servo motions along the z-axis and side-feeding directions are mainly adopted for primary surface generation and RTM control, respectively. Active control of the RTM from the two aspects, namely, undesired effect elimination or effective functionalization, are experimentally demonstrated by fabricating a typical F-theta freeform surface with scattering homogenization and two functional microstructures with imposition of secondary phase gratings integrating both reflective and diffractive functions.

  6. Adaptive Hybrid Visual Servo Regulation of Mobile Robots Based on Fast Homography Decomposition

    Directory of Open Access Journals (Sweden)

    Chunfu Wu

    2015-01-01

    Full Text Available For the monocular camera-based mobile robot system, an adaptive hybrid visual servo regulation algorithm which is based on a fast homography decomposition method is proposed to drive the mobile robot to its desired position and orientation, even when object’s imaging depth and camera’s position extrinsic parameters are unknown. Firstly, the homography’s particular properties caused by mobile robot’s 2-DOF motion are taken into account to induce a fast homography decomposition method. Secondly, the homography matrix and the extracted orientation error, incorporated with the desired view’s single feature point, are utilized to form an error vector and its open-loop error function. Finally, Lyapunov-based techniques are exploited to construct an adaptive regulation control law, followed by the experimental verification. The experimental results show that the proposed fast homography decomposition method is not only simple and efficient, but also highly precise. Meanwhile, the designed control law can well enable mobile robot position and orientation regulation despite the lack of depth information and camera’s position extrinsic parameters.

  7. Fabrication and correction of freeform surface based on Zernike polynomials by slow tool servo

    Science.gov (United States)

    Cheng, Yuan-Chieh; Hsu, Ming-Ying; Peng, Wei-Jei; Hsu, Wei-Yao

    2017-10-01

    Recently, freeform surface widely using to the optical system; because it is have advance of optical image and freedom available to improve the optical performance. For freeform optical fabrication by integrating freeform optical design, precision freeform manufacture, metrology freeform optics and freeform compensate method, to modify the form deviation of surface, due to production process of freeform lens ,compared and provides more flexibilities and better performance. This paper focuses on the fabrication and correction of the free-form surface. In this study, optical freeform surface using multi-axis ultra-precision manufacturing could be upgrading the quality of freeform. It is a machine equipped with a positioning C-axis and has the CXZ machining function which is also called slow tool servo (STS) function. The freeform compensate method of Zernike polynomials results successfully verified; it is correction the form deviation of freeform surface. Finally, the freeform surface are measured experimentally by Ultrahigh Accurate 3D Profilometer (UA3P), compensate the freeform form error with Zernike polynomial fitting to improve the form accuracy of freeform.

  8. Servo scanning 3D micro EDM for array micro cavities using on-machine fabricated tool electrodes

    Science.gov (United States)

    Tong, Hao; Li, Yong; Zhang, Long

    2018-02-01

    Array micro cavities are useful in many fields including in micro molds, optical devices, biochips and so on. Array servo scanning micro electro discharge machining (EDM), using array micro electrodes with simple cross-sectional shape, has the advantage of machining complex 3D micro cavities in batches. In this paper, the machining errors caused by offline-fabricated array micro electrodes are analyzed in particular, and then a machining process of array servo scanning micro EDM is proposed by using on-machine fabricated array micro electrodes. The array micro electrodes are fabricated on-machine by combined procedures including wire electro discharge grinding, array reverse copying and electrode end trimming. Nine-array tool electrodes with Φ80 µm diameter and 600 µm length are obtained. Furthermore, the proposed process is verified by several machining experiments for achieving nine-array hexagonal micro cavities with top side length of 300 µm, bottom side length of 150 µm, and depth of 112 µm or 120 µm. In the experiments, a chip hump accumulates on the electrode tips like the built-up edge in mechanical machining under the conditions of brass workpieces, copper electrodes and the dielectric of deionized water. The accumulated hump can be avoided by replacing the water dielectric by an oil dielectric.

  9. Characteristic analysis of servo valve

    International Nuclear Information System (INIS)

    Ko, J. H.; Ryu, D. R.; Lee, J. H.; Kim, Y. S.; Na, J. C.; Kim, D. S.

    2008-01-01

    Electro-pneumatic servo valve is an electro-mechanical device which converts electric signals into a proper pneumatic flow rate or pressure. In order to improve the overall performance of pneumatic servo systems, electro-pneumatic servo valves are required, which have fast dynamic characteristics, no air leakage at a null point, and can be fabricated at a low-cost. The first objective of this research is to design and to fabricate a new electro-pneumatic servo valve which satisfies the above-mentioned requirements. In order to design the mechanism of the servo valve optimally, the flow inside the valve depending upon the position of spool was analyzed variously, and on the basis of such analysis results, the valve mechanism, which was formed by combination of the spool and the sleeve, was designed and manufactured. And a tester for conducting an overall performance test was designed and manufactured, and as a result of conducting the flow rate test, the pressure test and the frequency test on the developed pneumatic servo valve

  10. A Deep Learning tool for fast simulation

    CERN Multimedia

    CERN. Geneva

    2018-01-01

    Machine Learning techniques have been used in different applications by the HEP community: in this talk, we discuss the case of detector simulation. The need for simulated events, expected in the future for LHC experiments and their High Luminosity upgrades, is increasing dramatically and requires new fast simulation solutions. We will describe an R&D activity, aimed at providing a configurable tool capable of training a neural network to reproduce the detector response and replace standard Monte Carlo simulation. This represents a generic approach in the sense that such a network could be designed and trained to simulate any kind of detector and, eventually, the whole data processing chain in order to get, directly in one step, the final reconstructed quantities, in just a small fraction of time. We will present the first application of three-dimensional convolutional Generative Adversarial Networks to the simulation of high granularity electromagnetic calorimeters. We will describe detailed validation s...

  11. HYDRAULIC SERVO CONTROL MECHANISM

    Science.gov (United States)

    Hussey, R.B.; Gottsche, M.J. Jr.

    1963-09-17

    A hydraulic servo control mechanism of compact construction and low fluid requirements is described. The mechanism consists of a main hydraulic piston, comprising the drive output, which is connected mechanically for feedback purposes to a servo control piston. A control sleeve having control slots for the system encloses the servo piston, which acts to cover or uncover the slots as a means of controlling the operation of the system. This operation permits only a small amount of fluid to regulate the operation of the mechanism, which, as a result, is compact and relatively light. This mechanism is particuiarly adaptable to the drive and control of control rods in nuclear reactors. (auth)

  12. Bioinformatics tools for development of fast and cost effective simple ...

    African Journals Online (AJOL)

    Bioinformatics tools for development of fast and cost effective simple sequence repeat ... comparative mapping and exploration of functional genetic diversity in the ... Already, a number of computer programs have been implemented that aim at ...

  13. Automated servo controlled calorimetry

    International Nuclear Information System (INIS)

    Wetzel, J.R.

    1984-01-01

    A method of operating a calorimeter is called the servo controlled method. An internal heater is driven by a controlled voltage source to produce a constant internal temperature. The heater power is controlled by a digital computer program that uses as one of its inputs the bridge potential. The heater power can be calculated by multiplying the heater current by the heater voltage. A bridge potential can then be determined that will produce the desired internal power level. When a sample is placed in the calorimeter the servo system reduces the heater power to maintain the set point bridge potential. There will be four calorimeters in the system - two for large sizes and two for small sizes. They will be servo controlled using a DEC Micro-11 computer with a IEEE-488 interface buss

  14. Hydrogen Financial Analysis Scenario Tool (H2FAST); NREL (National Renewable Energy Laboratory)

    Energy Technology Data Exchange (ETDEWEB)

    Melaina, Marc

    2015-04-21

    This presentation describes the Hydrogen Financial Analysis Scenario Tool, H2FAST, and provides an overview of each of the three H2FAST formats: the H2FAST web tool, the H2FAST Excel spreadsheet, and the H2FAST Business Case Scenario (BCS) tool. Examples are presented to illustrate the types of questions that H2FAST can help answer.

  15. Development of FAST.Farm: A New Multiphysics Engineering Tool for Wind Farm Design and Analysis: Preprint

    Energy Technology Data Exchange (ETDEWEB)

    Jonkman, Jason; Annoni, Jennifer; Hayman, Greg; Jonkman, Bonnie; Purkayastha, Avi

    2017-01-01

    This paper presents the development of FAST.Farm, a new multiphysics tool applicable to engineering problems in research and industry involving wind farm performance and cost optimization that is needed to address the current underperformance, failures, and expenses plaguing the wind industry. Achieving wind cost-of-energy targets - which requires improvements in wind farm performance and reliability, together with reduced uncertainty and expenditures - has been eluded by the complicated nature of the wind farm design problem, especially the sophisticated interaction between atmospheric phenomena and wake dynamics and array effects. FAST.Farm aims to balance the need for accurate modeling of the relevant physics for predicting power performance and loads while maintaining low computational cost to support a highly iterative and probabilistic design process and system-wide optimization. FAST.Farm makes use of FAST to model the aero-hydro-servo-elastics of distinct turbines in the wind farm, and it is based on some of the principles of the Dynamic Wake Meandering (DWM) model, but avoids many of the limitations of existing DWM implementations.

  16. Development of FAST.Farm: A New Multiphysics Engineering Tool for Wind-Farm Design and Analysis

    Energy Technology Data Exchange (ETDEWEB)

    Jonkman, Jason; Annoni, Jennifer; Hayman, Greg; Jonkman, Bonnie; Purkayastha, Avi

    2017-01-09

    This paper presents the development of FAST.Farm, a new multiphysics tool applicable to engineering problems in research and industry involving wind farm performance and cost optimization that is needed to address the current underperformance, failures, and expenses plaguing the wind industry. Achieving wind cost-of-energy targets - which requires improvements in wind farm performance and reliability, together with reduced uncertainty and expenditures - has been eluded by the complicated nature of the wind farm design problem, especially the sophisticated interaction between atmospheric phenomena and wake dynamics and array effects. FAST.Farm aims to balance the need for accurate modeling of the relevant physics for predicting power performance and loads while maintaining low computational cost to support a highly iterative and probabilistic design process and system-wide optimization. FAST.Farm makes use of FAST to model the aero-hydro-servo-elastics of distinct turbines in the wind farm, and it is based on some of the principles of the Dynamic Wake Meandering (DWM) model, but avoids many of the limitations of existing DWM implementations.

  17. Hydrogen Financial Analysis Scenario Tool (H2FAST). Web Tool User's Manual

    Energy Technology Data Exchange (ETDEWEB)

    Bush, B. [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Penev, M. [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Melaina, M. [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Zuboy, J. [Independent Consultant, Golden, CO (United States)

    2015-05-11

    The Hydrogen Financial Analysis Scenario Tool (H2FAST) provides a quick and convenient indepth financial analysis for hydrogen fueling stations. This manual describes how to use the H2FAST web tool, which is one of three H2FAST formats developed by the National Renewable Energy Laboratory (NREL). Although all of the formats are based on the same financial computations and conform to generally accepted accounting principles (FASAB 2014, Investopedia 2014), each format provides a different level of complexity and user interactivity.

  18. Nuclear Fuel Cycle Analysis and Simulation Tool (FAST)

    Energy Technology Data Exchange (ETDEWEB)

    Ko, Won Il; Kwon, Eun Ha; Kim, Ho Dong

    2005-06-15

    This paper describes the Nuclear Fuel Cycle Analysis and Simulation Tool (FAST) which has been developed by the Korea Atomic Energy Research Institute (KAERI). Categorizing various mix of nuclear reactors and fuel cycles into 11 scenario groups, the FAST calculates all the required quantities for each nuclear fuel cycle component, such as mining, conversion, enrichment and fuel fabrication for each scenario. A major advantage of the FAST is that the code employs a MS Excel spread sheet with the Visual Basic Application, allowing users to manipulate it with ease. The speed of the calculation is also quick enough to make comparisons among different options in a considerably short time. This user-friendly simulation code is expected to be beneficial to further studies on the nuclear fuel cycle to find best options for the future all proliferation risk, environmental impact and economic costs considered.

  19. Characteristic analysis and experiment of pneumatic servo valve

    International Nuclear Information System (INIS)

    Kim, Dong Soo; Lee, Won Hee; Choi, Byung Oh

    2004-01-01

    Electro-pneumatic servo valve is an electro-mechanical device which converts electric signals into a proper pneumatic flow rate or pressure. In order to improve the overall performance of pneumatic servo systems, electro-pneumatic servo valves are required, which have fast dynamic characteristics, no air leakage at a null point, and can be fabricated at a low-cost. The first objective of this research is to design and to fabricate a new electro-pneumatic servo valve which satisfies the above-mentioned requirements. In order to design the mechanism of the servo valve optimally, the flow inside the valve depending upon the position of spool was analyzed variously, and on the basis of such analysis results, the valve mechanism, which was formed by combination of the spool and the sleeve, was designed and manufactured. And a tester for conducting an overall performance test was designed and manufactured, and as a result of conducting the flow rate test, the pressure test and the frequency test on the developed pneumatic servo valve

  20. Fast simulation tool for ultraviolet radiation at the earth's surface

    Science.gov (United States)

    Engelsen, Ola; Kylling, Arve

    2005-04-01

    FastRT is a fast, yet accurate, UV simulation tool that computes downward surface UV doses, UV indices, and irradiances in the spectral range 290 to 400 nm with a resolution as small as 0.05 nm. It computes a full UV spectrum within a few milliseconds on a standard PC, and enables the user to convolve the spectrum with user-defined and built-in spectral response functions including the International Commission on Illumination (CIE) erythemal response function used for UV index calculations. The program accounts for the main radiative input parameters, i.e., instrumental characteristics, solar zenith angle, ozone column, aerosol loading, clouds, surface albedo, and surface altitude. FastRT is based on look-up tables of carefully selected entries of atmospheric transmittances and spherical albedos, and exploits the smoothness of these quantities with respect to atmospheric, surface, geometrical, and spectral parameters. An interactive site, http://nadir.nilu.no/~olaeng/fastrt/fastrt.html, enables the public to run the FastRT program with most input options. This page also contains updated information about FastRT and links to freely downloadable source codes and binaries.

  1. Modelling Machine Tools using Structure Integrated Sensors for Fast Calibration

    Directory of Open Access Journals (Sweden)

    Benjamin Montavon

    2018-02-01

    Full Text Available Monitoring of the relative deviation between commanded and actual tool tip position, which limits the volumetric performance of the machine tool, enables the use of contemporary methods of compensation to reduce tolerance mismatch and the uncertainties of on-machine measurements. The development of a primarily optical sensor setup capable of being integrated into the machine structure without limiting its operating range is presented. The use of a frequency-modulating interferometer and photosensitive arrays in combination with a Gaussian laser beam allows for fast and automated online measurements of the axes’ motion errors and thermal conditions with comparable accuracy, lower cost, and smaller dimensions as compared to state-of-the-art optical measuring instruments for offline machine tool calibration. The development is tested through simulation of the sensor setup based on raytracing and Monte-Carlo techniques.

  2. Methods and tools to detect thermal noise in fast reactors

    International Nuclear Information System (INIS)

    Motta, M.; Giovannini, R.

    1985-07-01

    The Specialists' Meeting on ''Methods and Tools to Detect Thermal Noise in Fast Reactors'' was held in Bologna on 8-10 October 1984. The meeting was hosted by the ENEA and was sponsored by the IAEA on the recommendation of the International Working Group on Fast Reactors. 17 participants attended the meeting from France, the Federal Republic of Germany, Italy, Japan, the United Kingdom, Joint Research Centre of CEC and from IAEA. The meeting was presided over by Prof. Mario Motta of Italy. The purpose of the meeting was to review and discuss methods and tools for temperature noise detection and related analysis as a potential means for detecting local blockages in fuel and blanket subassemblies and other faults in LMFBR. The meeting was divided into four technical sessions as follows: 1. National review presentations on application purposes and research activities for thermal noise detection. (5 papers); 2. Detection instruments and electronic equipment for temperature measurements in fast reactors. (5 papers); 3. Physical models. (2 papers); 4. Signal processing techniques. (3 papers). A separate abstract was prepared for each of these papers

  3. Overview of the Hydrogen Financial Analysis Scenario Tool (H2FAST); NREL (National Renewable Energy Laboratory)

    Energy Technology Data Exchange (ETDEWEB)

    Melaina, Marc; Bush, Brian; Penev, Michael

    2015-05-12

    This presentation provides an introduction to the Hydrogen Financial Analysis Scenario Tool (H2FAST) and includes an overview of each of the three versions of H2FAST: the Web tool, the Excel spreadsheet version, and the beta version of the H2FAST Business Case Scenario tool.

  4. Dynamic Characteristics of DC Servo Motor Driven by Conventional Servo Driver: Estimation of Circuit Constants in Conventional Servo Driver

    OpenAIRE

    酒井, 史敏; 神谷, 好承; 関, 啓明; 疋津, 正利

    2000-01-01

    DC servo motors that are made as manufactured goods in the factory are widely used as actuators for driving many automatic machines. Then the manufactured driver (amplifier) that is matched to its servo motor is coveniently chosen to drive when aiming at high performance of the motion control. Motion of motor that is driven by the manufactured servo driver has very complicated dynamic characteristics. In this study, it is tried to make clear about inner composition of the servo driver through...

  5. Hydraulic servo control spool valve

    Science.gov (United States)

    Miller, Donald M.

    1983-01-01

    A servo operated spool valve having a fixed sleeve and axially movable spool. The sleeve is machined in two halves to form a long, narrow tapered orifice slot across which a transverse wall of the spool is positioned. The axial position of the spool wall along the slot regulates the open orifice area with extreme precision.

  6. Actuation and Control of a Micro Electrohydraulic Digital Servo Valve

    Energy Technology Data Exchange (ETDEWEB)

    Yu, Z Q; Hu, M J; Pei, X; Ruan, J [MOE Key Laboratory of Mechanical Manufacture and Automation Zhejiang University of Technology, 310014 (China)

    2006-10-15

    Structure of the micro digital servo valve is given. A micro stepper motor is used as electrical-to-mechanical interface of the valve. A special mechanical device is designed to convert the rotation of the stepper motor into the linear motion of the spool. This moving conversion device functions through an eccentric ball head rigidly connected to the axis of the stepper motor and plugged into a slot at the central spool land. While the stepper motor rotates, the eccentric ball head will actuate the spool to make a linear motion. Unlike conventional servo or proportional valves, in which the spool is forced to central position by a spring force, when the current supply is switched off, the digital valve has a program to control the spool to its central position each time the electrical power supply is switched on or off. The two end screws are used to adjust the position of the sleeve to sustain a mechanical central position coincided with electrical central position given by the stepper motor after initialization. The adjustment has to be carried once before the first time the servo valve is put into service. This paper presents theoretical analysis and experimental study of dynamic characteristics of the proposed micro digital servo valve. Experimental results demonstrated that the valve takes the advantage of high accuracy and fast response.

  7. Actuation and Control of a Micro Electrohydraulic Digital Servo Valve

    International Nuclear Information System (INIS)

    Yu, Z Q; Hu, M J; Pei, X; Ruan, J

    2006-01-01

    Structure of the micro digital servo valve is given. A micro stepper motor is used as electrical-to-mechanical interface of the valve. A special mechanical device is designed to convert the rotation of the stepper motor into the linear motion of the spool. This moving conversion device functions through an eccentric ball head rigidly connected to the axis of the stepper motor and plugged into a slot at the central spool land. While the stepper motor rotates, the eccentric ball head will actuate the spool to make a linear motion. Unlike conventional servo or proportional valves, in which the spool is forced to central position by a spring force, when the current supply is switched off, the digital valve has a program to control the spool to its central position each time the electrical power supply is switched on or off. The two end screws are used to adjust the position of the sleeve to sustain a mechanical central position coincided with electrical central position given by the stepper motor after initialization. The adjustment has to be carried once before the first time the servo valve is put into service. This paper presents theoretical analysis and experimental study of dynamic characteristics of the proposed micro digital servo valve. Experimental results demonstrated that the valve takes the advantage of high accuracy and fast response

  8. Forming of AHSS using Servo-Presses

    Science.gov (United States)

    Groseclose, Adam Richard

    Stamping of Advanced High Strength Steel (AHSS) alloys poses several challenges due to the material's higher strength and low formability compared to conventional steels and other problems such as (a) inconsistency of incoming material properties, (b) ductile fracture during forming, (c) higher contact pressure and temperature rise during forming, (d) higher die wear leading to reduced tool life, (e) higher forming load/press capacity, and (f) large springback leading to dimensional inaccuracy in the formed part. [Palaniswamy et. al., 2007]. The use of AHSS has been increasing steadily in automotive stamping. New AHSS alloys (TRIP, TWIP) may replace some of the Hot Stamping applications. Stamping of AHSS alloys, especially higher strength materials, 780 MPa and higher, present new challenges in obtaining good part definition (corner and fillet radii), formability (fracture and resulting scrap) and in reducing springback. Servo-drive presses, having the capability to have infinitely variable and adjustable ram speed and dwell at BDC, offer a potential improvement in quality, part definition, and springback reduction especially when the infinitely adjustable slide motion is used in combination with a CNC hydraulic cushion. Thus, it is desirable to establish a scientific/engineering basis for improving the stamping conditions in forming AHSS using a servo-drive press.

  9. Inducement of Design Parameters for Reliability Improvement of Servo Actuator for Hydraulic Valve Operation

    Energy Technology Data Exchange (ETDEWEB)

    Sung, Baek Ju; Kim, Do Sik [Korea Institute of Machinery and Materials, Daejeon (Korea, Republic of)

    2014-05-15

    The precision hydraulic valve is widely used in various industrial field like aircraft, automobile, and general machinery. Servo actuator is the most important device for driving the precise hydraulic valve. The reliable operation of servo actuator effects on the overall hydraulic system. The performance of servo actuator relies on frequency response and step response according to arbitrary input signal. In this paper, we performed the analysis for the components of servo actuator to satisfy the reliable operation and response characteristics through the reliability analysis, and also induced the design parameters to realize the reliable operation and fast response characteristics of servo actuator for hydraulic valve operation through the empirical knowledge of experts and electromagnetic theories. We suggested the design equations to determine the values of design parameters of servo actuator as like bobbin size, length of yoke and plunger and turn number of coil, and verified the achieved design values through FEM analysis and performance tests using some prototypes of servo actuators adapted in hydraulic valve.

  10. ProbFAST: Probabilistic Functional Analysis System Tool

    Directory of Open Access Journals (Sweden)

    Oliveira Thiago YK

    2010-03-01

    Full Text Available Abstract Background The post-genomic era has brought new challenges regarding the understanding of the organization and function of the human genome. Many of these challenges are centered on the meaning of differential gene regulation under distinct biological conditions and can be performed by analyzing the Multiple Differential Expression (MDE of genes associated with normal and abnormal biological processes. Currently MDE analyses are limited to usual methods of differential expression initially designed for paired analysis. Results We proposed a web platform named ProbFAST for MDE analysis which uses Bayesian inference to identify key genes that are intuitively prioritized by means of probabilities. A simulated study revealed that our method gives a better performance when compared to other approaches and when applied to public expression data, we demonstrated its flexibility to obtain relevant genes biologically associated with normal and abnormal biological processes. Conclusions ProbFAST is a free accessible web-based application that enables MDE analysis on a global scale. It offers an efficient methodological approach for MDE analysis of a set of genes that are turned on and off related to functional information during the evolution of a tumor or tissue differentiation. ProbFAST server can be accessed at http://gdm.fmrp.usp.br/probfast.

  11. ProbFAST: Probabilistic functional analysis system tool.

    Science.gov (United States)

    Silva, Israel T; Vêncio, Ricardo Z N; Oliveira, Thiago Y K; Molfetta, Greice A; Silva, Wilson A

    2010-03-30

    The post-genomic era has brought new challenges regarding the understanding of the organization and function of the human genome. Many of these challenges are centered on the meaning of differential gene regulation under distinct biological conditions and can be performed by analyzing the Multiple Differential Expression (MDE) of genes associated with normal and abnormal biological processes. Currently MDE analyses are limited to usual methods of differential expression initially designed for paired analysis. We proposed a web platform named ProbFAST for MDE analysis which uses Bayesian inference to identify key genes that are intuitively prioritized by means of probabilities. A simulated study revealed that our method gives a better performance when compared to other approaches and when applied to public expression data, we demonstrated its flexibility to obtain relevant genes biologically associated with normal and abnormal biological processes. ProbFAST is a free accessible web-based application that enables MDE analysis on a global scale. It offers an efficient methodological approach for MDE analysis of a set of genes that are turned on and off related to functional information during the evolution of a tumor or tissue differentiation. ProbFAST server can be accessed at http://gdm.fmrp.usp.br/probfast.

  12. An open source digital servo for atomic, molecular, and optical physics experiments

    Energy Technology Data Exchange (ETDEWEB)

    Leibrandt, D. R., E-mail: david.leibrandt@nist.gov; Heidecker, J. [National Institute of Standards and Technology, Boulder, Colorado 80305 (United States)

    2015-12-15

    We describe a general purpose digital servo optimized for feedback control of lasers in atomic, molecular, and optical physics experiments. The servo is capable of feedback bandwidths up to roughly 1 MHz (limited by the 320 ns total latency); loop filter shapes up to fifth order; multiple-input, multiple-output control; and automatic lock acquisition. The configuration of the servo is controlled via a graphical user interface, which also provides a rudimentary software oscilloscope and tools for measurement of system transfer functions. We illustrate the functionality of the digital servo by describing its use in two example scenarios: frequency control of the laser used to probe the narrow clock transition of {sup 27}Al{sup +} in an optical atomic clock, and length control of a cavity used for resonant frequency doubling of a laser.

  13. An open source digital servo for atomic, molecular, and optical physics experiments

    Science.gov (United States)

    Leibrandt, D. R.; Heidecker, J.

    2015-12-01

    We describe a general purpose digital servo optimized for feedback control of lasers in atomic, molecular, and optical physics experiments. The servo is capable of feedback bandwidths up to roughly 1 MHz (limited by the 320 ns total latency); loop filter shapes up to fifth order; multiple-input, multiple-output control; and automatic lock acquisition. The configuration of the servo is controlled via a graphical user interface, which also provides a rudimentary software oscilloscope and tools for measurement of system transfer functions. We illustrate the functionality of the digital servo by describing its use in two example scenarios: frequency control of the laser used to probe the narrow clock transition of 27Al+ in an optical atomic clock, and length control of a cavity used for resonant frequency doubling of a laser.

  14. An open source digital servo for atomic, molecular, and optical physics experiments

    International Nuclear Information System (INIS)

    Leibrandt, D. R.; Heidecker, J.

    2015-01-01

    We describe a general purpose digital servo optimized for feedback control of lasers in atomic, molecular, and optical physics experiments. The servo is capable of feedback bandwidths up to roughly 1 MHz (limited by the 320 ns total latency); loop filter shapes up to fifth order; multiple-input, multiple-output control; and automatic lock acquisition. The configuration of the servo is controlled via a graphical user interface, which also provides a rudimentary software oscilloscope and tools for measurement of system transfer functions. We illustrate the functionality of the digital servo by describing its use in two example scenarios: frequency control of the laser used to probe the narrow clock transition of 27 Al + in an optical atomic clock, and length control of a cavity used for resonant frequency doubling of a laser

  15. Active-passive hybrid piezoelectric actuators for high-precision hard disk drive servo systems

    Science.gov (United States)

    Chan, Kwong Wah; Liao, Wei-Hsin

    2006-03-01

    Positioning precision is crucial to today's increasingly high-speed, high-capacity, high data density, and miniaturized hard disk drives (HDDs). The demand for higher bandwidth servo systems that can quickly and precisely position the read/write head on a high track density becomes more pressing. Recently, the idea of applying dual-stage actuators to track servo systems has been studied. The push-pull piezoelectric actuated devices have been developed as micro actuators for fine and fast positioning, while the voice coil motor functions as a large but coarse seeking. However, the current dual-stage actuator design uses piezoelectric patches only without passive damping. In this paper, we propose a dual-stage servo system using enhanced active-passive hybrid piezoelectric actuators. The proposed actuators will improve the existing dual-stage actuators for higher precision and shock resistance, due to the incorporation of passive damping in the design. We aim to develop this hybrid servo system not only to increase speed of track seeking but also to improve precision of track following servos in HDDs. New piezoelectrically actuated suspensions with passive damping have been designed and fabricated. In order to evaluate positioning and track following performances for the dual-stage track servo systems, experimental efforts are carried out to implement the synthesized active-passive suspension structure with enhanced piezoelectric actuators using a composite nonlinear feedback controller.

  16. Visual-servoing optical microscopy

    Science.gov (United States)

    Callahan, Daniel E.; Parvin, Bahram

    2009-06-09

    The present invention provides methods and devices for the knowledge-based discovery and optimization of differences between cell types. In particular, the present invention provides visual servoing optical microscopy, as well as analysis methods. The present invention provides means for the close monitoring of hundreds of individual, living cells over time: quantification of dynamic physiological responses in multiple channels; real-time digital image segmentation and analysis; intelligent, repetitive computer-applied cell stress and cell stimulation; and the ability to return to the same field of cells for long-term studies and observation. The present invention further provides means to optimize culture conditions for specific subpopulations of cells.

  17. Digitalni servo sistem za upravljanje infracrvenim lokatorom

    OpenAIRE

    Aleksandar Viličić; Mirko Jezdimirović

    2009-01-01

    U radu je predstavljen digitalni servo sistem sa pogonskim elektromotorom koji zamenjuje postojeći elektrohidraulički servo pogon na uređaju za upravljanje IC lokatorom, koji obezbeđuje zahtevanu tačnost pozicioniranja i praćenja sa minimalnim brzinama.

  18. Fast prototyping H.264 deblocking filter using ESL tools

    International Nuclear Information System (INIS)

    Damak, T.; Werda, I.; Masmoud, N.; Bilavarn, S.

    2011-01-01

    This paper presents a design methodology for hardware/software (HW/SW) architecture design using ESL tools (Electronic System Level). From C++ descriptions, our design flow is able to generate hardware blocks running with a software part and all necessary codes to prototype the HW/SW system on Xilinx FPGAs. Therefore we use assistance of high level synthesis tools (Catapult C Synthesis), logic synthesis and Xilinx tools. As application, we developed an optimized Deblocking filter C code, designed to be used as a part of a complete H.264 video coding system [1]. Based on this code, we explored many configurations of Catapult Synthesis to analyze different area/time tradeoffs. Results show execution speedups of 95,5 pour cent compared to pure software execution etc.

  19. ASSIST: a fast versatile local structural comparison tool.

    Science.gov (United States)

    Caprari, Silvia; Toti, Daniele; Viet Hung, Le; Di Stefano, Maurizio; Polticelli, Fabio

    2014-04-01

    Structural genomics initiatives are increasingly leading to the determination of the 3D structure of target proteins whose catalytic function is not known. The aim of this work was that of developing a novel versatile tool for searching structural similarity, which allows to predict the catalytic function, if any, of these proteins. The algorithm implemented by the tool is based on local structural comparison to find the largest subset of similar residues between an input protein and known functional sites. The method uses a geometric hashing approach where information related to residue pairs from the input structures is stored in a hash table and then is quickly retrieved during the comparison step. Tests on proteins belonging to different functional classes, done using the Catalytic Site Atlas entries as targets, indicate that the algorithm is able to identify the correct functional class of the input protein in the vast majority of the cases. The application was developed in Java SE 6, with a Java Swing Graphic User Interface (GUI). The system can be run locally on any operating system (OS) equipped with a suitable Java Virtual Machine, and is available at the following URL: http://www.computationalbiology.it/software/ASSISTv1.zip.

  20. Experimental research of flow servo-valve

    Directory of Open Access Journals (Sweden)

    Takosoglu Jakub

    2017-01-01

    Full Text Available Positional control of pneumatic drives is particularly important in pneumatic systems. Some methods of positioning pneumatic cylinders for changeover and tracking control are known. Choking method is the most development-oriented and has the greatest potential. An optimal and effective method, particularly when applied to pneumatic drives, has been searched for a long time. Sophisticated control systems with algorithms utilizing artificial intelligence methods are designed therefor. In order to design the control algorithm, knowledge about real parameters of servo-valves used in control systems of electro-pneumatic servo-drives is required. The paper presents the experimental research of flow servo-valve.

  1. Experimental research of flow servo-valve

    Science.gov (United States)

    Takosoglu, Jakub

    Positional control of pneumatic drives is particularly important in pneumatic systems. Some methods of positioning pneumatic cylinders for changeover and tracking control are known. Choking method is the most development-oriented and has the greatest potential. An optimal and effective method, particularly when applied to pneumatic drives, has been searched for a long time. Sophisticated control systems with algorithms utilizing artificial intelligence methods are designed therefor. In order to design the control algorithm, knowledge about real parameters of servo-valves used in control systems of electro-pneumatic servo-drives is required. The paper presents the experimental research of flow servo-valve.

  2. Recent results in visual servoing

    Science.gov (United States)

    Chaumette, François

    2008-06-01

    Visual servoing techniques consist in using the data provided by a vision sensor in order to control the motions of a dynamic system. Such systems are usually robot arms, mobile robots, aerial robots,… but can also be virtual robots for applications in computer animation, or even a virtual camera for applications in computer vision and augmented reality. A large variety of positioning tasks, or mobile target tracking, can be implemented by controlling from one to all the degrees of freedom of the system. Whatever the sensor configuration, which can vary from one on-board camera on the robot end-effector to several free-standing cameras, a set of visual features has to be selected at best from the image measurements available, allowing to control the degrees of freedom desired. A control law has also to be designed so that these visual features reach a desired value, defining a correct realization of the task. With a vision sensor providing 2D measurements, potential visual features are numerous, since as well 2D data (coordinates of feature points in the image, moments, …) as 3D data provided by a localization algorithm exploiting the extracted 2D measurements can be considered. It is also possible to combine 2D and 3D visual features to take the advantages of each approach while avoiding their respective drawbacks. From the selected visual features, the behavior of the system will have particular properties as for stability, robustness with respect to noise or to calibration errors, robot 3D trajectory, etc. The talk will present the main basic aspects of visual servoing, as well as technical advances obtained recently in the field inside the Lagadic group at INRIA/INRISA Rennes. Several application results will be also described.

  3. Web Exploration Tools for a Fast Federated Optical Survey Database

    Science.gov (United States)

    Humphreys, Roberta M.

    2000-01-01

    We implemented several new web-based tools to improve the efficiency and versatility of access to the APS Catalog of the POSS I (Palomar Observatory-National Geographic Sky Survey) and its associated image database. The most important addition was a federated database system to link the APS Catalog and image database into one Internet-accessible database. With the FDBS, the queries and transactions on the integrated database are performed as if it were a single database. We installed Myriad the FDBS developed by Professor Jaideep Srivastava and members of his group in the University of Minnesota Computer Science Department. It is the first system to provide schema integration, query processing and optimization, and transaction management capabilities in a single framework. The attached figure illustrates the Myriad architecture. The FDBS permits horizontal access to the data, not just vertical. For example, for the APS, queries can be made not only by sky position, but also by any parameter present in either of the databases. APS users will be able to produce an image of all the blue galaxies and stellar sources for comparison with x-ray source error ellipses from AXAF (X Ray Astrophysics Facility) (Chandra) for example. The FDBS is now available as a beta release with the appropriate query forms at our web site. While much of our time was occupied with adapting Myriad to the APS environment, we also made major changes in Star Base, our DBMS for the Catalog, at the web interface to improve its efficiency for issuing and processing queries. Star Base is now three times faster for large queries. Improvements were also made at the web end of the image database for faster access; although work still needs to be done to the image database itself for more efficient return with the FDBS. During the past few years, we made several improvements to the database pipeline that creates the individual plate databases queries by StarBase. The changes include improved positions

  4. Study of Servo Press with a Flywheel

    Science.gov (United States)

    Tso, Pei-Lum; Li, Cheng-Ho

    The servo press with a flywheel is able to provide flexible motions with energy-saving merit, but its true potential has not been thoroughly studied and verified. In this paper, such the “hybrid-driven” servo press is focused on, and the stamping capacity and the energy distribution between the flywheel and the servomotor are investigated. The capacity is derived based on the principle of energy conservation, and a method of using a capacity percentage plane for evaluation is proposed. A case study is included to illustrate and interpret that the stamping capacity is highly dependent on the programmed punch motions, thus the capacity prediction is always necessary while applying this kind of servo press. The energy distribution is validated by blanking experiments, and the results indicate that the servomotor needs only to provide 15% to the flywheel torque, 12% of the total stamping energy. This validates that the servomotor power is significantly saved in comparison with conventional servo presses.

  5. Active stabilization of a rapidly chirped laser by an optoelectronic digital servo-loop control.

    Science.gov (United States)

    Gorju, G; Jucha, A; Jain, A; Crozatier, V; Lorgeré, I; Le Gouët, J-L; Bretenaker, F; Colice, M

    2007-03-01

    We propose and demonstrate a novel active stabilization scheme for wide and fast frequency chirps. The system measures the laser instantaneous frequency deviation from a perfectly linear chirp, thanks to a digital phase detection process, and provides an error signal that is used to servo-loop control the chirped laser. This way, the frequency errors affecting a laser scan over 10 GHz on the millisecond timescale are drastically reduced below 100 kHz. This active optoelectronic digital servo-loop control opens new and interesting perspectives in fields where rapidly chirped lasers are crucial.

  6. FastGCN: a GPU accelerated tool for fast gene co-expression networks.

    Directory of Open Access Journals (Sweden)

    Meimei Liang

    Full Text Available Gene co-expression networks comprise one type of valuable biological networks. Many methods and tools have been published to construct gene co-expression networks; however, most of these tools and methods are inconvenient and time consuming for large datasets. We have developed a user-friendly, accelerated and optimized tool for constructing gene co-expression networks that can fully harness the parallel nature of GPU (Graphic Processing Unit architectures. Genetic entropies were exploited to filter out genes with no or small expression changes in the raw data preprocessing step. Pearson correlation coefficients were then calculated. After that, we normalized these coefficients and employed the False Discovery Rate to control the multiple tests. At last, modules identification was conducted to construct the co-expression networks. All of these calculations were implemented on a GPU. We also compressed the coefficient matrix to save space. We compared the performance of the GPU implementation with those of multi-core CPU implementations with 16 CPU threads, single-thread C/C++ implementation and single-thread R implementation. Our results show that GPU implementation largely outperforms single-thread C/C++ implementation and single-thread R implementation, and GPU implementation outperforms multi-core CPU implementation when the number of genes increases. With the test dataset containing 16,000 genes and 590 individuals, we can achieve greater than 63 times the speed using a GPU implementation compared with a single-thread R implementation when 50 percent of genes were filtered out and about 80 times the speed when no genes were filtered out.

  7. Aerial Object Following Using Visual Fuzzy Servoing

    OpenAIRE

    Olivares Méndez, Miguel Ángel; Mondragon Bernal, Ivan Fernando; Campoy Cervera, Pascual; Mejias Alvarez, Luis; Martínez Luna, Carol Viviana

    2011-01-01

    This article presents a visual servoing system to follow a 3D moving object by a Micro Unmanned Aerial Vehicle (MUAV). The presented control strategy is based only on the visual information given by an adaptive tracking method based on the color information. A visual fuzzy system has been developed for servoing the camera situated on a rotary wing MAUV, that also considers its own dynamics. This system is focused on continuously following of an aerial moving target object, maintai...

  8. IUSThrust Vector Control (TVC) servo system

    Science.gov (United States)

    Conner, G. E.

    1979-01-01

    The IUS TVC SERVO SYSTEM which consists of four electrically redundant electromechanical actuators, four potentiometer assemblies, and two controllers to provide movable nozzle control on both IUS solid rocket motors is developed. An overview of the more severe IUS TVC servo system design requirements, the system and component designs, and test data acquired on a preliminary development unit is presented. Attention is focused on the unique methods of sensing movable nozzle position and providing for redundant position locks.

  9. Vision servo of industrial robot: A review

    Science.gov (United States)

    Zhang, Yujin

    2018-04-01

    Robot technology has been implemented to various areas of production and life. With the continuous development of robot applications, requirements of the robot are also getting higher and higher. In order to get better perception of the robots, vision sensors have been widely used in industrial robots. In this paper, application directions of industrial robots are reviewed. The development, classification and application of robot vision servo technology are discussed, and the development prospect of industrial robot vision servo technology is proposed.

  10. Fusing Simulation Results From Multifidelity Aero-servo-elastic Simulators - Application To Extreme Loads On Wind Turbine

    DEFF Research Database (Denmark)

    Abdallah, Imad; Sudret, Bruno; Lataniotis, Christos

    2015-01-01

    Fusing predictions from multiple simulators in the early stages of the conceptual design of a wind turbine results in reduction in model uncertainty and risk mitigation. Aero-servo-elastic is a term that refers to the coupling of wind inflow, aerodynamics, structural dynamics and controls. Fusing...... the response data from multiple aero-servo-elastic simulators could provide better predictive ability than using any single simulator. The co-Kriging approach to fuse information from multifidelity aero-servo-elastic simulators is presented. We illustrate the co-Kriging approach to fuse the extreme flapwise...... bending moment at the blade root of a large wind turbine as a function of wind speed, turbulence and shear exponent in the presence of model uncertainty and non-stationary noise in the output. The extreme responses are obtained by two widely accepted numerical aero-servo-elastic simulators, FAST...

  11. Robustness-tracking control based on sliding mode and H∞ theory for linear servo system

    Institute of Scientific and Technical Information of China (English)

    TIAN Yan-feng; GUO Qing-ding

    2005-01-01

    A robustness-tracking control scheme based on combining H∞ robust control and sliding mode control is proposed for a direct drive AC permanent-magnet linear motor servo system to solve the conflict between tracking and robustness of the linear servo system. The sliding mode tracking controller is designed to ensure the system has a fast tracking characteristic to the command, and the H∞ robustness controller suppresses the disturbances well within the close loop( including the load and the end effect force of linear motor etc. ) and effectively minimizes the chattering of sliding mode control which influences the steady state performance of the system. Simulation results show that this control scheme enhances the track-command-ability and the robustness of the linear servo system, and in addition, it has a strong robustness to parameter variations and resistance disturbances.

  12. Expanded Capabilities for the Hydrogen Financial Analysis Scenario Tool (H2FAST)

    Energy Technology Data Exchange (ETDEWEB)

    Bush, Brian; Melaina, Marc; Penev, Michael

    2016-06-08

    This presentation describes how NREL expanded the capabilities for the Hydrogen Financial Analysis Scenario Tool (H2FAST) in FY16. It was presented at the U.S. Department of Energy Hydrogen and Fuel Cells Program 2016 Annual Merit Review and Peer Evaluation Meeting on June 8, 2016, in Washington, D.C.

  13. Analysis of the jet pipe electro-hydraulic servo valve with finite element methods

    Directory of Open Access Journals (Sweden)

    Kaiyu Zhao

    2018-01-01

    Full Text Available The dynamic characteristics analysis about the jet pipe electro-hydraulic servo valve based on experience and mathematical derivation was difficult and not so precise. So we have analysed the armature feedback components, torque motor and jet pipe receiver in electrohydraulic servo valve by sophisticated finite element analysis tools respectively and have got physical meaning data on these parts. Then the data were fitted by Matlab and the mathematical relationships among them were calculated. We have done the dynamic multi-physical fields’ Simulink co-simulation using above mathematical relationship, and have got the input-output relationship of the overall valve, the frequency response and step response. This work can show the actual working condition accurately. At the same time, we have considered the materials and the impact of the critical design dimensions in the finite element analysis process. It provides some new ideas to the overall design of jet pipe electro-hydraulic servo valve.

  14. A Matlab/Simulink-Based Interactive Module for Servo Systems Learning

    Science.gov (United States)

    Aliane, N.

    2010-01-01

    This paper presents an interactive module for learning both the fundamental and practical issues of servo systems. This module, developed using Simulink in conjunction with the Matlab graphical user interface (Matlab-GUI) tool, is used to supplement conventional lectures in control engineering and robotics subjects. First, the paper introduces the…

  15. Pediatric FAST and elevated liver transaminases: An effective screening tool in blunt abdominal trauma.

    Science.gov (United States)

    Sola, Juan E; Cheung, Michael C; Yang, Relin; Koslow, Starr; Lanuti, Emma; Seaver, Chris; Neville, Holly L; Schulman, Carl I

    2009-11-01

    The current standard for the evaluation of children with blunt abdominal trauma (BAT) consists of physical examination, screening lab values, and computed tomography (CT) scan. We sought to determine if the focused assessment with sonography for trauma (FAST) combined with elevated liver transaminases (AST/ALT) could be used as a screening tool for intra-abdominal injury (IAI) in pediatric patients with BAT. Registry data at a level 1 trauma center was retrospectively reviewed from 1991-2007. Data collected on BAT patients under the age of 16 y included demographics, injury mechanism, ISS, GCS, imaging studies, serum ALT and AST levels, and disposition. AST and ALT were considered positive if either one was >100 IU/L. Overall, 3171 cases were identified. A total of 1008 (31.8%) patients received CT scan, 1148 (36.2%) had FAST, and 497 (15.7%) patients received both. Of the 497 patients, 400 (87.1%) also had AST and ALT measured. FAST was 50% sensitive, 91% specific, with a positive predictive value (PPV) of 68%, negative predictive value (NPV) of 83%, and accuracy of 80%. Combining FAST with elevated AST or ALT resulted in a statistically significant increase in all measures (sensitivity 88%, specificity 98%, PPV 94%, NPV 96%, accuracy 96%). FAST combined with AST or ALT > 100 IU/L is an effective screening tool for IAI in children following BAT. Pediatric patients with a negative FAST and liver transaminases < 100 IU/L should be observed rather than subjected to the radiation risk of CT.

  16. Multivariate data analysis as a fast tool in evaluation of solid state phenomena

    DEFF Research Database (Denmark)

    Jørgensen, Anna Cecilia; Miroshnyk, Inna; Karjalainen, Milja

    2006-01-01

    of information generated can be overwhelming and the need for more effective data analysis tools is well recognized. The aim of this study was to investigate the use of multivariate data analysis, in particular principal component analysis (PCA), for fast analysis of solid state information. The data sets...... the molecular level interpretation of the structural changes related to the loss of water, as well as interpretation of the phenomena related to the crystallization. The critical temperatures or critical time points were identified easily using the principal component analysis. The variables (diffraction angles...... or wavenumbers) that changed could be identified by the careful interpretation of the loadings plots. The PCA approach provides an effective tool for fast screening of solid state information....

  17. A low order adaptive control scheme for hydraulic servo systems

    DEFF Research Database (Denmark)

    Andersen, Torben Ole; Pedersen, Henrik Clemmensen; Bech, Michael Møller

    2015-01-01

    This paper deals with high-performance position control of hydraulics servo systems in general. The hydraulic servo system used is a two link robotic manipulator actuated by two hydraulic servo cylinders. A non-linear model of the hydraulic system and a Newton-Euler based model of the mechanical...

  18. Nonlinear friction model for servo press simulation

    Science.gov (United States)

    Ma, Ninshu; Sugitomo, Nobuhiko; Kyuno, Takunori; Tamura, Shintaro; Naka, Tetsuo

    2013-12-01

    The friction coefficient was measured under an idealized condition for a pulse servo motion. The measured friction coefficient and its changing with both sliding distance and a pulse motion showed that the friction resistance can be reduced due to the re-lubrication during unloading process of the pulse servo motion. Based on the measured friction coefficient and its changes with sliding distance and re-lubrication of oil, a nonlinear friction model was developed. Using the newly developed the nonlinear friction model, a deep draw simulation was performed and the formability was evaluated. The results were compared with experimental ones and the effectiveness was verified.

  19. A fast Monte Carlo program for pulsed-neutron capture-gamma tools

    International Nuclear Information System (INIS)

    Hovgaard, J.

    1992-02-01

    A fast model for the pulsed-neutron capture-gamma tool has been developed. It is believed that the program produce valid results even though some approximation have been introduced. A correct γ photon transport simulation, which is under preparation, has for instance not yet been included. Simulations performed so far has shown that the model, with respect to computing time and accuracy, fully lives up to expectations with respect to computing time and accuracy. (au)

  20. Compact, Lightweight Servo-Controllable Brakes

    Science.gov (United States)

    Lovchik, Christopher S.; Townsend, William; Guertin, Jeffrey; Matsuoka, Yoky

    2010-01-01

    Compact, lightweight servo-controllable brakes capable of high torques are being developed for incorporation into robot joints. A brake of this type is based partly on the capstan effect of tension elements. In a brake of the type under development, a controllable intermediate state of torque is reached through on/off switching at a high frequency.

  1. Magnetic particle clutch controls servo system

    Science.gov (United States)

    Fow, P. B.

    1973-01-01

    Magnetic clutches provide alternative means of driving low-power rate or positioning servo systems. They may be used over wide variety of input speed ranges and weigh comparatively little. Power drain is good with overall motor/clutch efficiency greater than 50 percent, and gain of clutch is close to linear, following hysteresis curve of core and rotor material.

  2. Synthesis of Servo Pneumatic/Hydraulic Drive

    Directory of Open Access Journals (Sweden)

    K D. Efremova

    2017-01-01

    Full Text Available Servo pneumatic and / or hydraulic drives are widely used in modern engineering and process control. The efficiency of using pneumatic / hydraulic drives depends on their parameters and characteristics. To select the optimal drive parameters, various methods are used, based on finding the minimum of the target (target or criteria function.The objective of this paper was to apply one crucial criterion (target function that provides determination of optimal parameters of the pneumatic / hydraulic drive with the translational motion of the end-effector as well as its use in the synthesis of the servo pneumatic cylinder. The article shows the form of the target function representing a set of drive parameters that do not have direct relationships with each other in a dimensionless form for the pneumatic / hydraulic drive with the translational motion of the end-effector. To calculate the parameters of the servo drive close to the optimal ones, a two-criteria LPτ search was used. As criteria, were used the decisive criterion - the proposed target function, and the power developed by the actuator of the pneumatic / hydraulic drive, which were presented in a dimensionless form. It is shown that the criterion for solution optimality is the minimum distance of the selected point in the space of the normalized criteria from the origin. This point was determined. In addition to the proposed criteria, non-formalised requirements were taken into account: actual and mass-produced components of drive, in terms of which its parameters close to the optimal ones were determined, and the maximum relative error of the obtained useful power value of the servo pneumatic drive was estimated. The paper presents design features of two types of the servo pneumatic drive created, taking into account the proposed target function, implemented according to the schemes "hidden" and "spaced apart". The experimental static characteristic of the servo pneumatic drive is

  3. Adaptive Neural Network Control for Nonlinear Hydraulic Servo-System with Time-Varying State Constraints

    Directory of Open Access Journals (Sweden)

    Shu-Min Lu

    2017-01-01

    Full Text Available An adaptive neural network control problem is addressed for a class of nonlinear hydraulic servo-systems with time-varying state constraints. In view of the low precision problem of the traditional hydraulic servo-system which is caused by the tracking errors surpassing appropriate bound, the previous works have shown that the constraint for the system is a good way to solve the low precision problem. Meanwhile, compared with constant constraints, the time-varying state constraints are more general in the actual systems. Therefore, when the states of the system are forced to obey bounded time-varying constraint conditions, the high precision tracking performance of the system can be easily realized. In order to achieve this goal, the time-varying barrier Lyapunov function (TVBLF is used to prevent the states from violating time-varying constraints. By the backstepping design, the adaptive controller will be obtained. A radial basis function neural network (RBFNN is used to estimate the uncertainties. Based on analyzing the stability of the hydraulic servo-system, we show that the error signals are bounded in the compacts sets; the time-varying state constrains are never violated and all singles of the hydraulic servo-system are bounded. The simulation and experimental results show that the tracking accuracy of system is improved and the controller has fast tracking ability and strong robustness.

  4. In Silico PCR Tools for a Fast Primer, Probe, and Advanced Searching.

    Science.gov (United States)

    Kalendar, Ruslan; Muterko, Alexandr; Shamekova, Malika; Zhambakin, Kabyl

    2017-01-01

    The polymerase chain reaction (PCR) is fundamental to molecular biology and is the most important practical molecular technique for the research laboratory. The principle of this technique has been further used and applied in plenty of other simple or complex nucleic acid amplification technologies (NAAT). In parallel to laboratory "wet bench" experiments for nucleic acid amplification technologies, in silico or virtual (bioinformatics) approaches have been developed, among which in silico PCR analysis. In silico NAAT analysis is a useful and efficient complementary method to ensure the specificity of primers or probes for an extensive range of PCR applications from homology gene discovery, molecular diagnosis, DNA fingerprinting, and repeat searching. Predicting sensitivity and specificity of primers and probes requires a search to determine whether they match a database with an optimal number of mismatches, similarity, and stability. In the development of in silico bioinformatics tools for nucleic acid amplification technologies, the prospects for the development of new NAAT or similar approaches should be taken into account, including forward-looking and comprehensive analysis that is not limited to only one PCR technique variant. The software FastPCR and the online Java web tool are integrated tools for in silico PCR of linear and circular DNA, multiple primer or probe searches in large or small databases and for advanced search. These tools are suitable for processing of batch files that are essential for automation when working with large amounts of data. The FastPCR software is available for download at http://primerdigital.com/fastpcr.html and the online Java version at http://primerdigital.com/tools/pcr.html .

  5. PWMScan: a fast tool for scanning entire genomes with a position-specific weight matrix.

    Science.gov (United States)

    Ambrosini, Giovanna; Groux, Romain; Bucher, Philipp

    2018-03-05

    Transcription factors (TFs) regulate gene expression by binding to specific short DNA sequences of 5 to 20-bp to regulate the rate of transcription of genetic information from DNA to messenger RNA. We present PWMScan, a fast web-based tool to scan server-resident genomes for matches to a user-supplied PWM or TF binding site model from a public database. The web server and source code are available at http://ccg.vital-it.ch/pwmscan and https://sourceforge.net/projects/pwmscan, respectively. giovanna.ambrosini@epfl.ch. SUPPLEMENTARY DATA ARE AVAILABLE AT BIOINFORMATICS ONLINE.

  6. Development and application of modeling tools for sodium fast reactor inspection

    Energy Technology Data Exchange (ETDEWEB)

    Le Bourdais, Florian; Marchand, Benoît; Baronian, Vahan [CEA LIST, Centre de Saclay F-91191 Gif-sur-Yvette (France)

    2014-02-18

    To support the development of in-service inspection methods for the Advanced Sodium Test Reactor for Industrial Demonstration (ASTRID) project led by the French Atomic Energy Commission (CEA), several tools that allow situations specific to Sodium cooled Fast Reactors (SFR) to be modeled have been implemented in the CIVA software and exploited. This paper details specific applications and results obtained. For instance, a new specular reflection model allows the calculation of complex echoes from scattering structures inside the reactor vessel. EMAT transducer simulation models have been implemented to develop new transducers for sodium visualization and imaging. Guided wave analysis tools have been developed to permit defect detection in the vessel shell. Application examples and comparisons with experimental data are presented.

  7. New method to improve dynamic stiffness of electro-hydraulic servo systems

    Science.gov (United States)

    Bai, Yanhong; Quan, Long

    2013-09-01

    Most current researches working on improving stiffness focus on the application of control theories. But controller in closed-loop hydraulic control system takes effect only after the controlled position is deviated, so the control action is lagged. Thus dynamic performance against force disturbance and dynamic load stiffness can’t be improved evidently by advanced control algorithms. In this paper, the elementary principle of maintaining piston position unchanged under sudden external force load change by charging additional oil is analyzed. On this basis, the conception of raising dynamic stiffness of electro hydraulic position servo system by flow feedforward compensation is put forward. And a scheme using double servo valves to realize flow feedforward compensation is presented, in which another fast response servo valve is added to the regular electro hydraulic servo system and specially utilized to compensate the compressed oil volume caused by load impact in time. The two valves are arranged in parallel to control the cylinder jointly. Furthermore, the model of flow compensation is derived, by which the product of the amplitude and width of the valve’s pulse command signal can be calculated. And determination rules of the amplitude and width of pulse signal are concluded by analysis and simulations. Using the proposed scheme, simulations and experiments at different positions with different force changes are conducted. The simulation and experimental results show that the system dynamic performance against load force impact is largely improved with decreased maximal dynamic position deviation and shortened settling time. That is, system dynamic load stiffness is evidently raised. This paper proposes a new method which can effectively improve the dynamic stiffness of electro-hydraulic servo systems.

  8. Cloud-based Networked Visual Servo Control

    OpenAIRE

    Wu, Haiyan; Lu, Lei; Chen, Chih-Chung; Hirche, Sandra; Kühnlenz, Kolja

    2013-01-01

    The performance of vision-based control systems, in particular of highly dynamic vision-based motion control systems, is often limited by the low sampling rate of the visual feedback caused by the long image processing time. In order to overcome this problem, the networked visual servo control, which integrates networked computational resources for cloud image processing, is considered in this article. The main contributions of this article are i) a real-time transport protocol for transmitti...

  9. A Proposal Of Simulation Model Of A Wind-Steering System For Sailing Yachts, Based On Single-Stage Servo-Pendulum Coupled With Main Rudder

    Directory of Open Access Journals (Sweden)

    Piętak Andrzej

    2015-04-01

    Full Text Available The aim of this study was to investigate possible application of fast design prototyping methods for wind-steering systems used in offshore sailing yachts. The development of such methods would help to speed up the construction work and reduce the scope of necessary experimental research, prior to implementation of the system. In the present work, based on an analysis of existing designs of windvane systems, a preliminary selection of the system configuration has been undertaken, in terms of a compromise between efficiency, performance, and design complexity. Construction design of a single-stage, servo – pendulum system, has been developed by using the Autodesk Inventor design package. Next, based on the design data, a simulation model of the system, has been produced by using Matlab - Simulink software and SimMechanics library. The model was further verified in terms of kinematics mapping with the use of Matlab visualization tools.

  10. Decommissioning of hot cells using a hydraulically powered servo manipulator

    International Nuclear Information System (INIS)

    Asquith, J.D.; Loughborough, D.

    1993-01-01

    This paper describes the preparations and initial trials involved in remotely dismantling the containment boxes within two concrete shielded hot cells at Harwell Laboratory using a hydraulically powered servo manipulator, ARTISAN. The manipulator deploys a variety of tools for cutting operations. The modular design has enabled it to be specifically configured for this application by adjusting the link lengths using spacers between the joints. In addition to the remote handling requirements, a new posting and ventilation system for the facility is outlined. Trials with ARTISAN in an in-active mock-up have now been successfully completed, and the manipulator is installed in the active facility. The considerations and approach adopted in this project are typical of many situations where remote techniques are required for decommissioning activities. (author)

  11. Dual arm master controller for a bilateral servo-manipulator

    Science.gov (United States)

    Kuban, Daniel P.; Perkins, Gerald S.

    1989-01-01

    A master controller for a mechanically dissimilar bilateral slave servo-manipulator is disclosed. The master controller includes a plurality of drive trains comprising a plurality of sheave arrangements and cables for controlling upper and lower degrees of master movement. The cables and sheaves of the master controller are arranged to effect kinematic duplication of the slave servo-manipulator, despite mechanical differences therebetween. A method for kinematically matching a master controller to a slave servo-manipulator is also disclosed.

  12. FAST

    DEFF Research Database (Denmark)

    Zuidmeer-Jongejan, Laurian; Fernandez-Rivas, Montserrat; Poulsen, Lars K.

    2012-01-01

    ABSTRACT: The FAST project (Food Allergy Specific Immunotherapy) aims at the development of safe and effective treatment of food allergies, targeting prevalent, persistent and severe allergy to fish and peach. Classical allergen-specific immunotherapy (SIT), using subcutaneous injections with aqu...

  13. Fuzzy self-learning control for magnetic servo system

    Science.gov (United States)

    Tarn, J. H.; Kuo, L. T.; Juang, K. Y.; Lin, C. E.

    1994-01-01

    It is known that an effective control system is the key condition for successful implementation of high-performance magnetic servo systems. Major issues to design such control systems are nonlinearity; unmodeled dynamics, such as secondary effects for copper resistance, stray fields, and saturation; and that disturbance rejection for the load effect reacts directly on the servo system without transmission elements. One typical approach to design control systems under these conditions is a special type of nonlinear feedback called gain scheduling. It accommodates linear regulators whose parameters are changed as a function of operating conditions in a preprogrammed way. In this paper, an on-line learning fuzzy control strategy is proposed. To inherit the wealth of linear control design, the relations between linear feedback and fuzzy logic controllers have been established. The exercise of engineering axioms of linear control design is thus transformed into tuning of appropriate fuzzy parameters. Furthermore, fuzzy logic control brings the domain of candidate control laws from linear into nonlinear, and brings new prospects into design of the local controllers. On the other hand, a self-learning scheme is utilized to automatically tune the fuzzy rule base. It is based on network learning infrastructure; statistical approximation to assign credit; animal learning method to update the reinforcement map with a fast learning rate; and temporal difference predictive scheme to optimize the control laws. Different from supervised and statistical unsupervised learning schemes, the proposed method learns on-line from past experience and information from the process and forms a rule base of an FLC system from randomly assigned initial control rules.

  14. The FTS atomic spectrum tool (FAST) for rapid analysis of line spectra

    Science.gov (United States)

    Ruffoni, M. P.

    2013-07-01

    The FTS Atomic Spectrum Tool (FAST) is an interactive graphical program designed to simplify the analysis of atomic emission line spectra obtained from Fourier transform spectrometers. Calculated, predicted and/or known experimental line parameters are loaded alongside experimentally observed spectral line profiles for easy comparison between new experimental data and existing results. Many such line profiles, which could span numerous spectra, may be viewed simultaneously to help the user detect problems from line blending or self-absorption. Once the user has determined that their experimental line profile fits are good, a key feature of FAST is the ability to calculate atomic branching fractions, transition probabilities, and oscillator strengths-and their uncertainties-which is not provided by existing analysis packages. Program SummaryProgram title: FAST: The FTS Atomic Spectrum Tool Catalogue identifier: AEOW_v1_0 Program summary URL: http://cpc.cs.qub.ac.uk/summaries/AEOW_v1_0.html Program obtainable from: CPC Program Library, Queen's University, Belfast, N. Ireland Licensing provisions: GNU General Public License version 3 No. of lines in distributed program, including test data, etc.: 293058 No. of bytes in distributed program, including test data, etc.: 13809509 Distribution format: tar.gz Programming language: C++. Computer: Intel x86-based systems. Operating system: Linux/Unix/Windows. RAM: 8 MB minimum. About 50-200 MB for a typical analysis. Classification: 2.2, 2.3, 21.2. Nature of problem: Visualisation of atomic line spectra including the comparison of theoretical line parameters with experimental atomic line profiles. Accurate intensity calibration of experimental spectra, and the determination of observed relative line intensities that are needed for calculating atomic branching fractions and oscillator strengths. Solution method: FAST is centred around a graphical interface, where a user may view sets of experimental line profiles and compare

  15. Control system for the Fermilab Master-Slave servo manipulator

    International Nuclear Information System (INIS)

    Ducar, R.J.

    1977-01-01

    A control system for the Fermilab Master-Slave servo manipulator was developed. This new system offers a significant improvement in operational performance over the extant servo design with additional emphasis on simplicity of operation and maintainability. The servo manipulator is force-reflecting in each of the seven independent bilateral motions. Master force multiplication is automatically increased as the slave force is increased to its fifty pound capacity. The design incorporates triac control of the low inertia two-phase servomotors and makes extensive use of digital circuits in the servo loops. The manipulator is utilized in servicing radioactive beam-line targeting equipment

  16. Fast 3D Net Expeditions: Tools for Effective Scientific Collaboration on the World Wide Web

    Science.gov (United States)

    Watson, Val; Chancellor, Marisa K. (Technical Monitor)

    1996-01-01

    Two new technologies, the FASTexpedition and Remote FAST, have been developed that provide remote, 3D (three dimensional), high resolution, dynamic, interactive viewing of scientific data. The FASTexpedition permits one to access scientific data from the World Wide Web, take guided expeditions through the data, and continue with self controlled expeditions through the data. Remote FAST permits collaborators at remote sites to simultaneously view an analysis of scientific data being controlled by one of the collaborators. Control can be transferred between sites. These technologies are now being used for remote collaboration in joint university, industry, and NASA projects. Also, NASA Ames Research Center has initiated a project to make scientific data and guided expeditions through the data available as FASTexpeditions on the World Wide Web for educational purposes. Previously, remote visualization of dynamic data was done using video format (transmitting pixel information) such as video conferencing or MPEG (Motion Picture Expert Group) movies on the Internet. The concept for this new technology is to send the raw data (e.g., grids, vectors, and scalars) along with viewing scripts over the Internet and have the pixels generated by a visualization tool running on the viewers local workstation. The visualization tool that is currently used is FAST (Flow Analysis Software Toolkit). The advantages of this new technology over using video format are: (1) The visual is much higher in resolution (1280x1024 pixels with 24 bits of color) than typical video format transmitted over the network. (2) The form of the visualization can be controlled interactively (because the viewer is interactively controlling the visualization tool running on his workstation). (3) A rich variety of guided expeditions through the data can be included easily. (4) A capability is provided for other sites to see a visual analysis of one site as the analysis is interactively performed. Control of

  17. SOAP. A tool for the fast computation of photometry and radial velocity induced by stellar spots

    Science.gov (United States)

    Boisse, I.; Bonfils, X.; Santos, N. C.

    2012-09-01

    We define and put at the disposal of the community SOAP, Spot Oscillation And Planet, a software tool that simulates the effect of stellar spots and plages on radial velocimetry and photometry. This paper describes the tool release and provides instructions for its use. We present detailed tests with previous computations and real data to assess the code's performance and to validate its suitability. We characterize the variations of the radial velocity, line bisector, and photometric amplitude as a function of the main variables: projected stellar rotational velocity, filling factor of the spot, resolution of the spectrograph, linear limb-darkening coefficient, latitude of the spot, and inclination of the star. Finally, we model the spot distributions on the active stars HD 166435, TW Hya and HD 189733, which reproduce the observations. We show that the software is remarkably fast, allowing several evolutions in its capabilities that could be performed to study the next challenges in the exoplanetary field connected with the stellar variability. The tool is available at http://www.astro.up.pt/soap

  18. Servo-controlling structure of five-axis CNC system for real-time NURBS interpolating

    Science.gov (United States)

    Chen, Liangji; Guo, Guangsong; Li, Huiying

    2017-07-01

    NURBS (Non-Uniform Rational B-Spline) is widely used in CAD/CAM (Computer-Aided Design / Computer-Aided Manufacturing) to represent sculptured curves or surfaces. In this paper, we develop a 5-axis NURBS real-time interpolator and realize it in our developing CNC(Computer Numerical Control) system. At first, we use two NURBS curves to represent tool-tip and tool-axis path respectively. According to feedrate and Taylor series extension, servo-controlling signals of 5 axes are obtained for each interpolating cycle. Then, generation procedure of NC(Numerical Control) code with the presented method is introduced and the method how to integrate the interpolator into our developing CNC system is given. And also, the servo-controlling structure of the CNC system is introduced. Through the illustration, it has been indicated that the proposed method can enhance the machining accuracy and the spline interpolator is feasible for 5-axis CNC system.

  19. Online Analytical Processing (OLAP: A Fast and Effective Data Mining Tool for Gene Expression Databases

    Directory of Open Access Journals (Sweden)

    Alkharouf Nadim W.

    2005-01-01

    Full Text Available Gene expression databases contain a wealth of information, but current data mining tools are limited in their speed and effectiveness in extracting meaningful biological knowledge from them. Online analytical processing (OLAP can be used as a supplement to cluster analysis for fast and effective data mining of gene expression databases. We used Analysis Services 2000, a product that ships with SQLServer2000, to construct an OLAP cube that was used to mine a time series experiment designed to identify genes associated with resistance of soybean to the soybean cyst nematode, a devastating pest of soybean. The data for these experiments is stored in the soybean genomics and microarray database (SGMD. A number of candidate resistance genes and pathways were found. Compared to traditional cluster analysis of gene expression data, OLAP was more effective and faster in finding biologically meaningful information. OLAP is available from a number of vendors and can work with any relational database management system through OLE DB.

  20. Nearest-cell: a fast and easy tool for locating crystal matches in the PDB

    International Nuclear Information System (INIS)

    Ramraj, V.; Evans, G.; Diprose, J. M.; Esnouf, R. M.

    2012-01-01

    A fast and easy tool to locate unit-cell matches in the PDB is described. When embarking upon X-ray diffraction data collection from a potentially novel macromolecular crystal form, it can be useful to ascertain whether the measured data reflect a crystal form that is already recorded in the Protein Data Bank and, if so, whether it is part of a large family of related structures. Providing such information to crystallographers conveniently and quickly, as soon as the first images have been recorded and the unit cell characterized at an X-ray beamline, has the potential to save time and effort as well as pointing to possible search models for molecular replacement. Given an input unit cell, and optionally a space group, Nearest-cell rapidly scans the Protein Data Bank and retrieves near-matches

  1. PhySortR: a fast, flexible tool for sorting phylogenetic trees in R.

    Science.gov (United States)

    Stephens, Timothy G; Bhattacharya, Debashish; Ragan, Mark A; Chan, Cheong Xin

    2016-01-01

    A frequent bottleneck in interpreting phylogenomic output is the need to screen often thousands of trees for features of interest, particularly robust clades of specific taxa, as evidence of monophyletic relationship and/or reticulated evolution. Here we present PhySortR, a fast, flexible R package for classifying phylogenetic trees. Unlike existing utilities, PhySortR allows for identification of both exclusive and non-exclusive clades uniting the target taxa based on tip labels (i.e., leaves) on a tree, with customisable options to assess clades within the context of the whole tree. Using simulated and empirical datasets, we demonstrate the potential and scalability of PhySortR in analysis of thousands of phylogenetic trees without a priori assumption of tree-rooting, and in yielding readily interpretable trees that unambiguously satisfy the query. PhySortR is a command-line tool that is freely available and easily automatable.

  2. Online analytical processing (OLAP): a fast and effective data mining tool for gene expression databases.

    Science.gov (United States)

    Alkharouf, Nadim W; Jamison, D Curtis; Matthews, Benjamin F

    2005-06-30

    Gene expression databases contain a wealth of information, but current data mining tools are limited in their speed and effectiveness in extracting meaningful biological knowledge from them. Online analytical processing (OLAP) can be used as a supplement to cluster analysis for fast and effective data mining of gene expression databases. We used Analysis Services 2000, a product that ships with SQLServer2000, to construct an OLAP cube that was used to mine a time series experiment designed to identify genes associated with resistance of soybean to the soybean cyst nematode, a devastating pest of soybean. The data for these experiments is stored in the soybean genomics and microarray database (SGMD). A number of candidate resistance genes and pathways were found. Compared to traditional cluster analysis of gene expression data, OLAP was more effective and faster in finding biologically meaningful information. OLAP is available from a number of vendors and can work with any relational database management system through OLE DB.

  3. Simulation of Logging-while-drilling Tool Response Using Integral Equation Fast Fourier Transform

    Directory of Open Access Journals (Sweden)

    Sun Xiang-Yang

    2017-01-01

    Full Text Available We rely on the volume integral equation (VIE method for the simulation of loggingwhile- drilling (LWG tool response using the integral equation fast Fourier transform (IE-FFT algorithm to accelerate the computation of the matrix-vector product in the iterative solver. Depending on the virtue of the Toeplitz structure of the interpolation of the Green’s function on the uniform Cartesian grids, this method uses FFT to calculate the matrix-vector multiplication. At the same time, this method reduce the memory requirement and CPU time. In this paper, IEFFT method is first used in the simulation of LWG. Numerical results are presented to demonstrate the accuracy and efficiency of this method. Compared with the Moment of Method (MOM and other fast algorithms, IE-FFT have distinct advantages in the fact of memory requirement and CPU time. In addition, this paper study the truncation, mesh elements, the size of the interpolation grids of IE-FFT and dip formation, and give some conclusion with wide applicability.

  4. SunFast: A sun workstation based, fuel analysis scoping tool for pressurized water reactors

    International Nuclear Information System (INIS)

    Bohnhoff, W.J.

    1991-05-01

    The objective of this research was to develop a fuel cycle scoping program for light water reactors and implement the program on a workstation class computer. Nuclear fuel management problems are quite formidable due to the many fuel arrangement options available. Therefore, an engineer must perform multigroup diffusion calculations for a variety of different strategies in order to determine an optimum core reload. Standard fine mesh finite difference codes result in a considerable computational cost. A better approach is to build upon the proven reliability of currently available mainframe computer programs, and improve the engineering efficiency by taking advantage of the most useful characteristic of workstations: enhanced man/machine interaction. This dissertation contains a description of the methods and a user's guide for the interactive fuel cycle scoping program, SunFast. SunFast provides computational speed and accuracy of solution along with a synergetic coupling between the user and the machine. It should prove to be a valuable tool when extensive sets of similar calculations must be done at a low cost as is the case for assessing fuel management strategies. 40 refs

  5. Simulation tools and new developments of the molten salt fast reactor

    International Nuclear Information System (INIS)

    Merle-Lucotte, E.; Doligez, X.; Heuer, D.; Allibert, M.; Ghetta, V.

    2010-01-01

    Starting from the Molten Salt Breeder Reactor project of Oak-Ridge, we have performed parametric studies in terms of safety coefficients, reprocessing requirements and breeding capabilities. In the frame of this major re-evaluation of the molten salt reactor (MSR), we have developed a new concept called Molten Salt Fast Reactor or MSFR, based on the Thorium fuel cycle and a fast neutron spectrum. This concept has been selected for further studies by the MSR steering committee of the Generation IV International Forum in 2009. Our reactor's studies of the MSFR concept rely on numerical simulations making use of the MCNP neutron transport code coupled with a code for materials evolution which resolves the Bateman's equations giving the population of each nucleus inside each part of the reactor at each moment. Because of MSR's fundamental characteristics compared to classical solid-fuelled reactors, the classical Bateman equations have to be modified by adding two terms representing the reprocessing capacities and the fertile or fissile alimentation. We have thus coupled neutronic and reprocessing simulation codes in a numerical tool used to calculate the extraction efficiencies of fission products, their location in the whole system (reactor and reprocessing unit) and radioprotection issues. (authors)

  6. Gas cooled fast reactor benchmarks for JNC and Cea neutronic tools assessment

    International Nuclear Information System (INIS)

    Rimpault, G.; Sugino, K.; Hayashi, H.

    2005-01-01

    In order to verify the adequacy of JNC and Cea computational tools for the definition of GCFR (gas cooled fast reactor) core characteristics, GCFR neutronic benchmarks have been performed. The benchmarks have been carried out on two different cores: 1) a conventional Gas-Cooled fast Reactor (EGCR) core with pin-type fuel, and 2) an innovative He-cooled Coated-Particle Fuel (CPF) core. Core characteristics being studied include: -) Criticality (Effective multiplication factor or K-effective), -) Instantaneous breeding gain (BG), -) Core Doppler effect, and -) Coolant depressurization reactivity. K-effective and coolant depressurization reactivity at EOEC (End Of Equilibrium Cycle) state were calculated since these values are the most critical characteristics in the core design. In order to check the influence due to the difference of depletion calculation systems, a simple depletion calculation benchmark was performed. Values such as: -) burnup reactivity loss, -) mass balance of heavy metals and fission products (FP) were calculated. Results of the core design characteristics calculated by both JNC and Cea sides agree quite satisfactorily in terms of core conceptual design study. Potential features for improving the GCFR computational tools have been discovered during the course of this benchmark such as the way to calculate accurately the breeding gain. Different ways to improve the accuracy of the calculations have also been identified. In particular, investigation on nuclear data for steel is important for EGCR and for lumped fission products in both cores. The outcome of this benchmark is already satisfactory and will help to design more precisely GCFR cores. (authors)

  7. Servo Reduces Friction In Flexure Bearing

    Science.gov (United States)

    Clingman, W. Dean

    1991-01-01

    Proposed servocontrol device reduces such resistive torques as stiction, friction, ripple, and cogging in flexure bearing described in LAR-14348, "Flexure Bearing Reduces Startup Friction". Reduces frictional "bump" torque encountered when bearing ball runs into buildup of grease on bearing race. Also used as cable follower to reduce torque caused by cable and hoses when they bend because of motion of bearing. New device includes torquer across ball race. Torquer controlled by servo striving to keep flexure at null, removing torque to outer ring. In effect, device is inner control loop reducing friction, but does not control platforms or any outer-control-loop functions.

  8. Stepping Motor - Hydraulic Motor Servo Drives for an NC Milling ...

    African Journals Online (AJOL)

    In this paper the retrofit design of the control system of an NC milling machine with a stepping motor and stepping motor - actuated hydraulic motor servo mechanism on the machines X-axis is described. The servo designed in the course of this study was tested practically and shown to be linear - the velocity following errors ...

  9. Experimental evaluation of control strategies for hydraulic servo robot

    DEFF Research Database (Denmark)

    Bech, Michael Møller; Andersen, Torben Ole; Pedersen, Henrik C.

    2013-01-01

    In this paper different linear and non-linear controllers applied to a hydraulically driven servo robot are evaluated and validated. The task is to make the actuators of the manipulator track a position reference with minimum error. Hydraulic systems are intrinsically non-linear and using linear...... in industrial servo drives. The different controllers are compared and evaluated from simulation and experimental results....

  10. Fast in-situ tool inspection based on inverse fringe projection and compact sensor heads

    Science.gov (United States)

    Matthias, Steffen; Kästner, Markus; Reithmeier, Eduard

    2016-11-01

    Inspection of machine elements is an important task in production processes in order to ensure the quality of produced parts and to gather feedback for the continuous improvement process. A new measuring system is presented, which is capable of performing the inspection of critical tool geometries, such as gearing elements, inside the forming machine. To meet the constraints on sensor head size and inspection time imposed by the limited space inside the machine and the cycle time of the process, the measuring device employs a combination of endoscopy techniques with the fringe projection principle. Compact gradient index lenses enable a compact design of the sensor head, which is connected to a CMOS camera and a flexible micro-mirror based projector via flexible fiber bundles. Using common fringe projection patterns, the system achieves measuring times of less than five seconds. To further reduce the time required for inspection, the generation of inverse fringe projection patterns has been implemented for the system. Inverse fringe projection speeds up the inspection process by employing object-adapted patterns, which enable the detection of geometry deviations in a single image. Two different approaches to generate object adapted patterns are presented. The first approach uses a reference measurement of a manufactured tool master to generate the inverse pattern. The second approach is based on a virtual master geometry in the form of a CAD file and a ray-tracing model of the measuring system. Virtual modeling of the measuring device and inspection setup allows for geometric tolerancing for free-form surfaces by the tool designer in the CAD-file. A new approach is presented, which uses virtual tolerance specifications and additional simulation steps to enable fast checking of metric tolerances. Following the description of the pattern generation process, the image processing steps required for inspection are demonstrated on captures of gearing geometries.

  11. Fuzzy control of small servo motors

    Science.gov (United States)

    Maor, Ron; Jani, Yashvant

    1993-01-01

    To explore the benefits of fuzzy logic and understand the differences between the classical control methods and fuzzy control methods, the Togai InfraLogic applications engineering staff developed and implemented a motor control system for small servo motors. The motor assembly for testing the fuzzy and conventional controllers consist of servo motor RA13M and an encoder with a range of 4096 counts. An interface card was designed and fabricated to interface the motor assembly and encoder to an IBM PC. The fuzzy logic based motor controller was developed using the TILShell and Fuzzy C Development System on an IBM PC. A Proportional-Derivative (PD) type conventional controller was also developed and implemented in the IBM PC to compare the performance with the fuzzy controller. Test cases were defined to include step inputs of 90 and 180 degrees rotation, sine and square wave profiles in 5 to 20 hertz frequency range, as well as ramp inputs. In this paper we describe our approach to develop a fuzzy as well as PH controller, provide details of hardware set-up and test cases, and discuss the performance results. In comparison, the fuzzy logic based controller handles the non-linearities of the motor assembly very well and provides excellent control over a broad range of parameters. Fuzzy technology, as indicated by our results, possesses inherent adaptive features.

  12. Improving dynamic performances of PWM-driven servo-pneumatic systems via a novel pneumatic circuit.

    Science.gov (United States)

    Taghizadeh, Mostafa; Ghaffari, Ali; Najafi, Farid

    2009-10-01

    In this paper, the effect of pneumatic circuit design on the input-output behavior of PWM-driven servo-pneumatic systems is investigated and their control performances are improved using linear controllers instead of complex and costly nonlinear ones. Generally, servo-pneumatic systems are well known for their nonlinear behavior. However, PWM-driven servo-pneumatic systems have the advantage of flexibility in the design of pneumatic circuits which affects the input-output linearity of the whole system. A simple pneumatic circuit with only one fast switching valve is designed which leads to a quasi-linear input-output relation. The quasi-linear behavior of the proposed circuit is verified both experimentally and by simulations. Closed loop position control experiments are then carried out using linear P- and PD-controllers. Since the output position is noisy and cannot be directly differentiated, a Kalman filter is designed to estimate the velocity of the cylinder. Highly improved tracking performances are obtained using these linear controllers, compared to previous works with nonlinear controllers.

  13. Design of a Novel Servo-motorized Laser Device for Visual Pathways Diseases Therapy

    Directory of Open Access Journals (Sweden)

    Carlos Ignacio Sarmiento

    2015-12-01

    Full Text Available We discuss a novel servo-motorized laser device and a research protocol for visual pathways diseases therapies. The proposed servo-mechanized laser device can be used for potential rehabilitation of patients with hemianopia, quadrantanopia, scotoma, and some types of cortical damages. The device uses a semi spherical structure where the visual stimulus will be shown inside, according to a previous stimuli therapy designed by an ophthalmologist or neurologist. The device uses a pair of servomotors (with torque=1.5kg, which controls the laser stimuli position for the internal therapy and another pair for external therapy. Using electronic tools such as microcontrollers along with miscellaneous electronic materials, combined with LabVIEW based interface, a control mechanism is developed for the new device. The proposed device is well suited to run various visual stimuli therapies. We outline the major design principles including the physical dimensions, laser device’s kinematical analysis and the corresponding software development.

  14. Simulation tools and new developments of the molten salt fast reactor

    International Nuclear Information System (INIS)

    Heuer, D.; Merle-Lucotte, E.; Allibert, M.; Doligez, X.; Ghetta, V.

    2010-01-01

    In the MSFR (Molten Salt Fast Reactor), the liquid fuel processing is part of the reactor where a small side stream of the molten salt is processed for fission product removal and then returned to the reactor. Because of this design characteristic, the MSFR can thus operate with a widely varying fuel composition. Our reactor's studies of the MSFR concept rely on numerical simulations making use of the MCNP neutron transport code coupled with a code for Bateman's equations computing the population of any nucleus inside any part of the reactor at any moment. The classical Bateman's equations have been modified by adding 2 terms representing the reprocessing capacities and an online addition. We have thus coupled neutronic and reprocessing simulation codes in a numerical tool used to calculate the extraction efficiencies of fission products, their location in the whole system and radioprotection issues. The very preliminary results show the potential of the neutronic-reprocessing coupling we have developed. We also show that these studies are limited by the uncertainties on the design and the knowledge of the chemical reprocessing processes. (A.C.)

  15. Use of servo controlled weld head for end closure welding

    Energy Technology Data Exchange (ETDEWEB)

    Pathak, S.K.; Setty, D.S.; Rameswara Rao, A.; Hemantha Rao, G.V.S.; Jayaraj, R.N. [Nuclear Fuel Complex, Dept. of Atomic Energy, Hyderabad (India)

    2010-07-01

    In the PHWR fuel fabrication line resistance welding processes are used for joining various zirconium based alloy components to fuel tube of similar material. The quality requirement of these welding processes is very stringent and has to meet all the product requirements. At present these welding processes are being carried out by using standard resistance welding machines. In the resistance welding process in addition to current and time, force is one of the critical and important parameter, which influences the weld quality. At present advanced feed back type fast response medium frequency weld controllers are being used. This has upslope/down slope, constant and repetitive weld pattern selection features makes this critical welding process more reliable. Compared to weld controllers, squeeze force application devices are limited and normally standard high response pneumatic cylinders are used in the welding process. With this type of devices the force is constant during welding process and cannot be varied during welding process as per the material deformation characteristics. Similarly due to non-availability of feed back systems in the squeeze force application systems restricts the accuracy and quality of the welding process. In the present paper the influence of squeeze force pattern on the weld quality using advanced feed back type servo based force control system was studied. Different squeeze forces were used during pre and post weld heat periods along with constant force and compared with the weld quality. (author)

  16. Dual arm master controller for a bilateral servo-manipulator

    International Nuclear Information System (INIS)

    Kuban, D.P.; Perkins, G.S.

    1989-01-01

    A master controller for a mechanically dissimilar bilateral slave servo-manipulator is disclosed. The master controller includes a plurality of drive trains comprising a plurality of sheave arrangements and cables for controlling upper and lower degrees of master movement. The cables and sheaves of the master controller are arranged to effect kinematic duplication of the slave servo-manipulator, despite mechanical differences there between. A method for kinematically matching a master controller to a slave servo-manipulator is also disclosed. 13 figs

  17. Designing compensator of dual servo system for high precision positioning

    International Nuclear Information System (INIS)

    Choi, Hyeun Seok; Song, Chi Woo; Han, Chang Soo; Choi, Tae Hoon; Lee, Nak Kyu; Na, Kyung Hwan

    2003-01-01

    The high precision positioning mechanism is used in various industrial fields. It is used in semiconductor manufacturing line, test instrument, bioengineering, and MEMS and so on. This paper presents a positioning mechanism with dual servo system. Dual servo system consists of a coarse stage and a fine motion stage. The course stage is driven by VCM and the actuator of fine stage is the PZT. The purposes of dual servo system are stability, higher bandwidth, and robustness. Lead compensator is applied to this control system, and is designed by PQ method. Designed compensator can improve property of positioning mechanism

  18. Motion control of servo cylinder using neural network

    International Nuclear Information System (INIS)

    Hwang, Un Kyoo; Cho, Seung Ho

    2004-01-01

    In this paper, a neural network controller that can be implemented in parallel with a PD controller is suggested for motion control of a hydraulic servo cylinder. By applying a self-excited oscillation method, the system design parameters of open loop transfer function of servo cylinder system are identified. Based on system design parameters, the PD gains are determined for the desired closed loop characteristics. The neural network is incorporated with PD control in order to compensate the inherent nonlinearities of hydraulic servo system. As an application example, a motion control using PD-NN has been performed and proved its superior performance by comparing with that of a PD control

  19. Direct drive digital servo press with high parallel control

    Science.gov (United States)

    Murata, Chikara; Yabe, Jun; Endou, Junichi; Hasegawa, Kiyoshi

    2013-12-01

    Direct drive digital servo press has been developed as the university-industry joint research and development since 1998. On the basis of this result, 4-axes direct drive digital servo press has been developed and in the market on April of 2002. This servo press is composed of 1 slide supported by 4 ball screws and each axis has linearscale measuring the position of each axis with high accuracy less than μm order level. Each axis is controlled independently by servo motor and feedback system. This system can keep high level parallelism and high accuracy even with high eccentric load. Furthermore the 'full stroke full power' is obtained by using ball screws. Using these features, new various types of press forming and stamping have been obtained by development and production. The new stamping and forming methods are introduced and 'manufacturing' need strategy of press forming with high added value and also the future direction of press forming are also introduced.

  20. The design of a servo system for a Moessbauer spectrometer

    International Nuclear Information System (INIS)

    Cranshaw, T.E.

    1981-06-01

    This report describes the design of a transducer system and servo drive amplifier suitable for Moessbauer spectrometers. Particular attention is paid to low and zero frequency drift. Measurements of the loop gain of a practical system are presented. (author)

  1. Servo Platform Circuit Design of Pendulous Gyroscope Based on DSP

    Science.gov (United States)

    Tan, Lilong; Wang, Pengcheng; Zhong, Qiyuan; Zhang, Cui; Liu, Yunfei

    2018-03-01

    In order to solve the problem when a certain type of pendulous gyroscope in the initial installation deviation more than 40 degrees, that the servo platform can not be up to the speed of the gyroscope in the rough north seeking phase. This paper takes the digital signal processor TMS320F28027 as the core, uses incremental digital PID algorithm, carries out the circuit design of the servo platform. Firstly, the hardware circuit is divided into three parts: DSP minimum system, motor driving circuit and signal processing circuit, then the mathematical model of incremental digital PID algorithm is established, based on the model, writes the PID control program in CCS3.3, finally, the servo motor tracking control experiment is carried out, it shows that the design can significantly improve the tracking ability of the servo platform, and the design has good engineering practice.

  2. Scoring the home falls and accidents screening tool for health professionals (HOME FAST-HP): Evidence from one epidemiological study.

    Science.gov (United States)

    Mackenzie, Lynette; Byles, Julie

    2018-03-30

    Falls in older people are a major public health concern. To target falls prevention interventions, screening tools need to be able to identify older people at greater risk of falling. This study aimed to investigate the screening capacity of the Home Falls and Accidents Screening Tool for health professionals (HOME FAST-HP), and to identify the best cut-off score to identify older people at higher risk of falls using the HOME FAST-HP. The study used cross-sectional data from a random sample of 650 women from the 1921 to 1926 cohort of the Australian Longitudinal Study of Women's Health (ALSWH). Selected women were sent a postal survey including the HOME FAST-HP, falls history, and other health factors. Scores on the home fast were calculated and the cut-point for optimal sensitivity and specificity of the HOME FAST-HP in relation to falls was assessed using a Receiver Operating Characteristic curve. A total of 567 older women participated (response rate 87%). The mean age of participants was 77.5 yrs (95% CI 77.31-77.70). A total of 153 participants (27%) reported a fall in the previous six months. The mean number of hazards using the HOME FAST-HP was 9.74 (95% CI 9.48-10.01), range 2-22. Non-fallers had a mean of 9.6 hazards (95% CI 9.32-9.91) and fallers had a mean of 10.63 hazards (95% CI 10.08-11.19) which was a significant difference (t = 3.41, P = 0.001). The area under the receiver operator curve (AUC) was 0.58 (95% CI 0.53-0.64). A HOME FAST-HP cut-off score of 9 was associated with the optimal sensitivity for falls (73.9%), with specificity (37.9%), and positive predictive value was 30.6% and negative predictive value was 79.7%. The HOME FAST-HP can be used as a screening tool to identify fallers with a cut-off score of nine indicating a higher risk of falling. © 2018 Occupational Therapy Australia.

  3. Building and Calibration of a FAST Model of the SWAY Prototype Floating Wind Turbine: Preprint

    Energy Technology Data Exchange (ETDEWEB)

    Koh, J. H.; Robertson, A.; Jonkman, J.; Driscoll, F.; Ng, E. Y. K.

    2013-09-01

    Present efforts to verify and validate aero-hydro-servo-elastic numerical simulation tools that predict the dynamic response of a floating offshore wind turbine are primarily limited to code-to-code comparisons or code-to-data comparisons using data from wind-wave basin tests. In partnership with SWAY AS, the National Renewable Energy Laboratory (NREL) installed scientific wind, wave, and motion measurement equipment on the 1/6.5th-scale prototype SWAY floating wind system to collect data to validate a FAST model of the SWAY design in an open-water condition. Nanyang Technological University (NTU), through a collaboration with NREL, assisted in this validation.

  4. Tools and applications for core design and shielding in fast reactors

    International Nuclear Information System (INIS)

    Rachamin, Reuven

    2013-01-01

    Outline: • Modeling of SFR cores using the Serpent-DYN3D code sequence; • Core shielding assessment for the design of FASTEF-MYRRHA; • Neutron shielding studies on an advanced Molten Salt Fast Reactor (MSFR) design

  5. Development of friction welding method by electric servo motors; Dendo servo shiki masatsu assetsuho no kaihatsu

    Energy Technology Data Exchange (ETDEWEB)

    Suzuki, H; Onuma, M; Hasegawa, T; Sakamoto, T [Toyota Motor Corp., Aichi (Japan)

    1997-10-01

    The standard friction welding has two methods; the brake method and the inertia method. We have developed a new friction welding method with the electric servo motor system. The forming of plastic fluidity layers of interface is evaluated quantitatively with the feedback control characteristics. The new method has enabled to reduce the heat effect and the burr of friction welding. In the method, we could reduce the getting heat energy, from one-third to half less than the previous methods. 6 refs., 16 figs.

  6. Enhanced control of a flexure-jointed micromanipulation system using a vision-based servoing approach

    Science.gov (United States)

    Chuthai, T.; Cole, M. O. T.; Wongratanaphisan, T.; Puangmali, P.

    2018-01-01

    This paper describes a high-precision motion control implementation for a flexure-jointed micromanipulator. A desktop experimental motion platform has been created based on a 3RUU parallel kinematic mechanism, driven by rotary voice coil actuators. The three arms supporting the platform have rigid links with compact flexure joints as integrated parts and are made by single-process 3D printing. The mechanism overall size is approximately 250x250x100 mm. The workspace is relatively large for a flexure-jointed mechanism, being approximately 20x20x6 mm. A servo-control implementation based on pseudo-rigid-body models (PRBM) of kinematic behavior combined with nonlinear-PID control has been developed. This is shown to achieve fast response with good noise-rejection and platform stability. However, large errors in absolute positioning occur due to deficiencies in the PRBM kinematics, which cannot accurately capture flexure compliance behavior. To overcome this problem, visual servoing is employed, where a digital microscopy system is used to directly measure the platform position by image processing. By adopting nonlinear PID feedback of measured angles for the actuated joints as inner control loops, combined with auxiliary feedback of vision-based measurements, the absolute positioning error can be eliminated. With controller gain tuning, fast dynamic response and low residual vibration of the end platform can be achieved with absolute positioning accuracy within ±1 micron.

  7. Environmental risk assessment using the Persian version of the Home Falls And Screening Tool (HOME FAST in Iranian elderly

    Directory of Open Access Journals (Sweden)

    Bahareh Maghfouri

    2013-05-01

    Full Text Available Introduction: One of the common problems among older people is falling. Falling inside the houses and streets makes up a large incidence between Iranian elderly, then the effort to identify environmental factors at home and home modification can reduce falls and injury in the elderly. The aim of this study is identifying elderly at risk of fall with using screening tool (HOME FAST and define reliability of this tool.Material and Methods: As a reliability, through the health housing of the town councils in five geographical regions of Tehran, 60 old person were selected. Participants aged 60 to 65 years and the HOME FAST tool was used in the two stages (inter rater and test-retest.Results: Test-retest reliability in the study showed that agreement between the items is over than 0.8, which shows very good reliability. The results showed that the relative of the each item in the Agreement between the domain is 1 - 0.65, which shows moderate to high reliability. And the results in this study showed that agreement between the items in Inter rater reliability is over than 0.8, which shows the level of reliability is very good. Also it showed that the relative of the each item in the agreement between the domain is 1 - 0.01, which shows poor to high reliability.Conclusion: This study shows that the reliability of the HOME FAST is high. The findings of these comments have been expected that the test objectives were appropriate to prevent falls and the tools showed acceptable reliability, then this test can be used as a tool for to professionals.

  8. IslandFAST: A Semi-numerical Tool for Simulating the Late Epoch of Reionization

    Energy Technology Data Exchange (ETDEWEB)

    Xu, Yidong; Chen, Xuelei [Key Laboratory for Computational Astrophysics, National Astronomical Observatories, Chinese Academy of Sciences, Beijing 100012 (China); Yue, Bin [National Astronomical Observatories, Chinese Academy of Sciences, Beijing 100012 (China)

    2017-08-01

    We present the algorithm and main results of our semi-numerical simulation, islandFAST, which was developed from 21cmFAST and designed for the late stage of reionization. The islandFAST simulation predicts the evolution and size distribution of the large-scale underdense neutral regions (neutral islands), and we find that the late Epoch of Reionization proceeds very fast, showing a characteristic scale of the neutral islands at each redshift. Using islandFAST, we compare the impact of two types of absorption systems, i.e., the large-scale underdense neutral islands versus small-scale overdense absorbers, in regulating the reionization process. The neutral islands dominate the morphology of the ionization field, while the small-scale absorbers dominate the mean-free path of ionizing photons, and also delay and prolong the reionization process. With our semi-numerical simulation, the evolution of the ionizing background can be derived self-consistently given a model for the small absorbers. The hydrogen ionization rate of the ionizing background is reduced by an order of magnitude in the presence of dense absorbers.

  9. siMacro: A Fast and Easy Data Processing Tool for Cell-Based Genomewide siRNA Screens

    Directory of Open Access Journals (Sweden)

    Nitin Kumar Singh

    2013-03-01

    Full Text Available Growing numbers of studies employ cell line-based systematic short interfering RNA (siRNA screens to study gene functions and to identify drug targets. As multiple sources of variations that are unique to siRNA screens exist, there is a growing demand for a computational tool that generates normalized values and standardized scores. However, only a few tools have been available so far with limited usability. Here, we present siMacro, a fast and easy-to-use Microsoft Office Excel-based tool with a graphic user interface, designed to process single-condition or two-condition synthetic screen datasets. siMacro normalizes position and batch effects, censors outlier samples, and calculates Z-scores and robust Z-scores, with a spreadsheet output of >120,000 samples in under 1 minute.

  10. Cine-servo lens technology for 4K broadcast and cinematography

    Science.gov (United States)

    Nurishi, Ryuji; Wakazono, Tsuyoshi; Usui, Fumiaki

    2015-09-01

    Central to the rapid evolution of 4K image capture technology in the past few years, deployment of large-format cameras with Super35mm Single Sensors is increasing in TV production for diverse shows such as dramas, documentaries, wildlife, and sports. While large format image capture has been the standard in the cinema world for quite some time, the recent experiences within the broadcast industry have revealed a variety of requirement differences for large format lenses compared to those of the cinema industry. A typical requirement for a broadcast lens is a considerably higher zoom ratio in order to avoid changing lenses in the middle of a live event, which is mostly not the case for traditional cinema productions. Another example is the need for compact size, light weight, and servo operability for a single camera operator shooting in a shoulder-mount ENG style. On the other hand, there are new requirements that are common to both worlds, such as smooth and seamless change in angle of view throughout the long zoom range, which potentially offers new image expression that never existed in the past. This paper will discuss the requirements from the two industries of cinema and broadcast, while at the same time introducing the new technologies and new optical design concepts applied to our latest "CINE-SERVO" lens series which presently consists of two models, CN7x17KAS-S and CN20x50IAS-H. It will further explain how Canon has realized 4K optical performance and fast servo control while simultaneously achieving compact size, light weight and high zoom ratio, by referring to patent-pending technologies such as the optical power layout, lens construction, and glass material combinations.

  11. SAMSIN: the next-generation servo-manipulator

    International Nuclear Information System (INIS)

    Adams, R.H.; Jennrich, C.E.; Korpi, K.W.

    1985-01-01

    The Central Research Laboratories (CRL) Division of Sargent Industries is now developing SAMSIN, a next-generation servo-manipulator. SAMSIN is an acronym for Servo-Actuated Manipulator Systems with Intelligent Networks. This paper discusses the objectives of this development and describes the key features of the servo-manipulator system. There are three main objectives in the SAMSIN development: adaptability, reliability, and maintainability. SAMSIN utilizes standard Sargent/CRL sealed master and slave manipulator arms as well as newly developed compact versions. The mechanical arms have more than 20 yr of successful performance in industrial applications such as hot cells, high vacuums, fuel pools, and explosives handling. The servo-actuator package is in a protective enclosure, which may be sealed in various ways from the remote environment. The force limiting characteristics of the servo-actuators extend motion tendon life. Protective bootings increase the reliability of the arms in an environment that is high in airborne contamination. These bootings also simplify the decontamination of the system. The modularity in construction permits quick removal and replacement of slave arms, wrist joints, tong fingers, and actuator packages for maintenance. SAMSIN utilizes readily available off-the-shelf actuator and control system components. Each manipulator motion uses the same actuator and control system components

  12. An ultra-precision tool nanoindentation instrument for replication of single point diamond tool cutting edges

    Science.gov (United States)

    Cai, Yindi; Chen, Yuan-Liu; Xu, Malu; Shimizu, Yuki; Ito, So; Matsukuma, Hiraku; Gao, Wei

    2018-05-01

    Precision replication of the diamond tool cutting edge is required for non-destructive tool metrology. This paper presents an ultra-precision tool nanoindentation instrument designed and constructed for replication of the cutting edge of a single point diamond tool onto a selected soft metal workpiece by precisely indenting the tool cutting edge into the workpiece surface. The instrument has the ability to control the indentation depth with a nanometric resolution, enabling the replication of tool cutting edges with high precision. The motion of the diamond tool along the indentation direction is controlled by the piezoelectric actuator of a fast tool servo (FTS). An integrated capacitive sensor of the FTS is employed to detect the displacement of the diamond tool. The soft metal workpiece is attached to an aluminum cantilever whose deflection is monitored by another capacitive sensor, referred to as an outside capacitive sensor. The indentation force and depth can be accurately evaluated from the diamond tool displacement, the cantilever deflection and the cantilever spring constant. Experiments were carried out by replicating the cutting edge of a single point diamond tool with a nose radius of 2.0 mm on a copper workpiece surface. The profile of the replicated tool cutting edge was measured using an atomic force microscope (AFM). The effectiveness of the instrument in precision replication of diamond tool cutting edges is well-verified by the experimental results.

  13. Electromagnetic servoing-a new tracking paradigm.

    Science.gov (United States)

    Reichl, Tobias; Gardiazabal, José; Navab, Nassir

    2013-08-01

    Electromagnetic (EM) tracking is highly relevant for many computer assisted interventions. This is in particular due to the fact that the scientific community has not yet developed a general solution for tracking of flexible instruments within the human body. Electromagnetic tracking solutions are highly attractive for minimally invasive procedures, since they do not require line of sight. However, a major problem with EM tracking solutions is that they do not provide uniform accuracy throughout the tracking volume and the desired, highest accuracy is often only achieved close to the center of tracking volume. In this paper, we present a solution to the tracking problem, by mounting an EM field generator onto a robot arm. Proposing a new tracking paradigm, we take advantage of the electromagnetic tracking to detect the sensor within a specific sub-volume, with known and optimal accuracy. We then use the more accurate and robust robot positioning for obtaining uniform accuracy throughout the tracking volume. Such an EM servoing methodology guarantees optimal and uniform accuracy, by allowing us to always keep the tracked sensor close to the center of the tracking volume. In this paper, both dynamic accuracy and accuracy distribution within the tracking volume are evaluated using optical tracking as ground truth. In repeated evaluations, the proposed method was able to reduce the overall error from 6.64±7.86 mm to a significantly improved accuracy of 3.83±6.43 mm. In addition, the combined system provides a larger tracking volume, which is only limited by the reach of the robot and not the much smaller tracking volume defined by the magnetic field generator.

  14. GPU-FS-kNN: a software tool for fast and scalable kNN computation using GPUs.

    Directory of Open Access Journals (Sweden)

    Ahmed Shamsul Arefin

    Full Text Available BACKGROUND: The analysis of biological networks has become a major challenge due to the recent development of high-throughput techniques that are rapidly producing very large data sets. The exploding volumes of biological data are craving for extreme computational power and special computing facilities (i.e. super-computers. An inexpensive solution, such as General Purpose computation based on Graphics Processing Units (GPGPU, can be adapted to tackle this challenge, but the limitation of the device internal memory can pose a new problem of scalability. An efficient data and computational parallelism with partitioning is required to provide a fast and scalable solution to this problem. RESULTS: We propose an efficient parallel formulation of the k-Nearest Neighbour (kNN search problem, which is a popular method for classifying objects in several fields of research, such as pattern recognition, machine learning and bioinformatics. Being very simple and straightforward, the performance of the kNN search degrades dramatically for large data sets, since the task is computationally intensive. The proposed approach is not only fast but also scalable to large-scale instances. Based on our approach, we implemented a software tool GPU-FS-kNN (GPU-based Fast and Scalable k-Nearest Neighbour for CUDA enabled GPUs. The basic approach is simple and adaptable to other available GPU architectures. We observed speed-ups of 50-60 times compared with CPU implementation on a well-known breast microarray study and its associated data sets. CONCLUSION: Our GPU-based Fast and Scalable k-Nearest Neighbour search technique (GPU-FS-kNN provides a significant performance improvement for nearest neighbour computation in large-scale networks. Source code and the software tool is available under GNU Public License (GPL at https://sourceforge.net/p/gpufsknn/.

  15. A Fast Tool for Assessing the Power Performance of Large WEC arrays

    DEFF Research Database (Denmark)

    Ruiz, Pau Mercadé

    In the present work, a tool for computing wave energy converter array hydrodynamic forces and power performance is developed. The tool leads to a significant reduction on computation time compared with standard boundary element method based codes while keeping similar levels of accuracy. This mak...... it suitable for array layout optimization, where large numbers of simulations are required. Furthermore, the tool is developed within an open-source environment such as Python 2.7 so that it is fully accessible to anyone willing to make use of it....

  16. Imaged-Based Visual Servo Control for a VTOL Aircraft

    Directory of Open Access Journals (Sweden)

    Liying Zou

    2017-01-01

    Full Text Available This paper presents a novel control strategy to force a vertical take-off and landing (VTOL aircraft to accomplish the pinpoint landing task. The control development is based on the image-based visual servoing method and the back-stepping technique; its design differs from the existing methods because the controller maps the image errors onto the actuator space via a visual model which does not contain the depth information of the feature point. The novelty of the proposed method is to extend the image-based visual servoing technique to the VTOL aircraft control. In addition, the Lyapunov theory is used to prove the asymptotic stability of the VTOL aircraft visual servoing system, while the image error can converge to zero. Furthermore, simulations have been also conducted to demonstrate the performances of the proposed method.

  17. Fast electron and X-ray scattering as a tool to study target's structure

    International Nuclear Information System (INIS)

    Amusia, M.Ya.

    2007-01-01

    We concentrate on several relatively new aspects of the study of fast electron and X-ray scattering by atoms and atom-like objects, namely endohedral atoms and fullerenes. However, main attention is given to fast charge particle scattering. We show that the corresponding cross-sections, being expressed via so-called generalized oscillator strengths (GOS), give information on the electronic structure of the target and on the role of electron correlations in it. We consider what sort of information became available when analyzing the dependence of GOS upon their multipolarity, transferred momentum q and energy ω. To obtain theoretical results, we employ both the one-electron Hartree-Fock approximation and account for the multi-electron correlation in the target, using the random phase approximation with exchange. We demonstrate the role of non-dipole corrections in the small-angle fast-electron inelastic scattering. There dipole contribution dominates while non-dipole corrections can be considerably and controllably enhanced as compared to the case of low and medium energy photoionization. We show also that analyses of GOS for discrete level excitations permit to clarify their multipolarity. The results of calculations of Compton excitation and ionization cross-sections are presented. Attention is given to cooperative effects in inelastic fast electron-atom scattering that results in directed motion of the secondary electrons, a phenomenon that is similar to 'drag currents' in photoionization. We demonstrate how one should derive GOS for endohedral atoms, e.g. A-C 60 and what is the additional information that can be obtained from corresponding GOS. Most of discussions are illustrated by the results of concrete calculations

  18. The dynamic current-voltage characteristic as a powerful tool to analyze fast phenomena in plasma

    International Nuclear Information System (INIS)

    Ivan, L. M.; Mihai-Plugaru, M.; Amarandei, G.; Aflori, M.; Dimitriu, D. G.

    2006-01-01

    The static current-voltage characteristic of an electrode immersed in plasma is obtained by slowly increasing and subsequently decreasing the potential on the electrode with respect to the plasma potential or the ground. This characteristic can give us important information about the phenomena that take place in front of the electrode. Current jumps can be evidenced which were often associated with an hysteresis effect, regions with S-type or N-type negative differential resistance, etc. The method is always used when we investigate the appearance of complex space charge configurations (CSCC) in front of an electrode immersed in plasma. However, to investigate the dynamics of such structures or other fast phenomena (like instabilities) which take place in plasma devices with frequencies of tenth, hundred kHz or more, complex investigation techniques must be used. One of the most efficient methods to investigate fast phenomena in plasma devices is the dynamic current-voltage characteristic. This is obtained by recording the time series of the current collected by the electrode when the voltage applied on it is very fast modified (most likely increased) by using a signal generator. In this way, very fast oscillations of the current can be recorded and new phenomena can be evidenced. We used this technique to study the phenomena which take place at the onset of electrostatic instabilities in Q-machine plasma, namely the potential relaxation instability (PRI) and the electrostatic ion-cyclotron instability (EICI). The obtained experimental results prove that the negative differential resistance region in the static current-voltage characteristic is the result of a nonlinear dynamics of a CSCC in form of a double layer (DL) which takes place just before the onset of the instabilities. In the case of the PRI we emphasized current jumps related with the DL appearance, which are not present in the static current-voltage characteristic at high plasma density. (authors)

  19. CSR as a Marketing Tool : a Case Study of Fast Food Restaurant in Malaysia

    OpenAIRE

    Abdul Razak, Armiza

    2014-01-01

    The use of corporate social responsibility (CSR) as being an efficient marketing tool would be matter that is being researched, especially with the increasing awareness of consumers about the importance of commercial organizations doing business in ways that do not harm the consumers or the environment. The aim of the research will be to obtain data from qualitative data in order to determine whether using CSR as being a marketing tool would bring a higher level of efficiency in the marketing...

  20. A Fast Inspection of Tool Electrode and Drilling Depth in EDM Drilling by Detection Line Algorithm.

    Science.gov (United States)

    Huang, Kuo-Yi

    2008-08-21

    The purpose of this study was to develop a novel measurement method using a machine vision system. Besides using image processing techniques, the proposed system employs a detection line algorithm that detects the tool electrode length and drilling depth of a workpiece accurately and effectively. Different boundaries of areas on the tool electrode are defined: a baseline between base and normal areas, a ND-line between normal and drilling areas (accumulating carbon area), and a DD-line between drilling area and dielectric fluid droplet on the electrode tip. Accordingly, image processing techniques are employed to extract a tool electrode image, and the centroid, eigenvector, and principle axis of the tool electrode are determined. The developed detection line algorithm (DLA) is then used to detect the baseline, ND-line, and DD-line along the direction of the principle axis. Finally, the tool electrode length and drilling depth of the workpiece are estimated via detected baseline, ND-line, and DD-line. Experimental results show good accuracy and efficiency in estimation of the tool electrode length and drilling depth under different conditions. Hence, this research may provide a reference for industrial application in EDM drilling measurement.

  1. GTZ: a fast compression and cloud transmission tool optimized for FASTQ files.

    Science.gov (United States)

    Xing, Yuting; Li, Gen; Wang, Zhenguo; Feng, Bolun; Song, Zhuo; Wu, Chengkun

    2017-12-28

    The dramatic development of DNA sequencing technology is generating real big data, craving for more storage and bandwidth. To speed up data sharing and bring data to computing resource faster and cheaper, it is necessary to develop a compression tool than can support efficient compression and transmission of sequencing data onto the cloud storage. This paper presents GTZ, a compression and transmission tool, optimized for FASTQ files. As a reference-free lossless FASTQ compressor, GTZ treats different lines of FASTQ separately, utilizes adaptive context modelling to estimate their characteristic probabilities, and compresses data blocks with arithmetic coding. GTZ can also be used to compress multiple files or directories at once. Furthermore, as a tool to be used in the cloud computing era, it is capable of saving compressed data locally or transmitting data directly into cloud by choice. We evaluated the performance of GTZ on some diverse FASTQ benchmarks. Results show that in most cases, it outperforms many other tools in terms of the compression ratio, speed and stability. GTZ is a tool that enables efficient lossless FASTQ data compression and simultaneous data transmission onto to cloud. It emerges as a useful tool for NGS data storage and transmission in the cloud environment. GTZ is freely available online at: https://github.com/Genetalks/gtz .

  2. Optimum back-pressure forging using servo die cushion

    OpenAIRE

    Kawamoto, Kiichiro; Yoneyama, Takeshi; Okada, Masato; Kitayama, Satoshi; Chikahisa, Junpei

    2014-01-01

    This study focused on utilizing a servo die cushion (in conjunction with a servo press) as a "back-pressure load generator," to determine its effect on shape accuracy of the formed part and total forming load in forward extrusion during cold forging. The effect of back-pressure load application was confirmed in experiments, and the optimum setting pattern of back-pressure load was considered to minimize both shape accuracy of the formed part and back-pressure energy, which was representative ...

  3. Digital simulation of FM-ZCS-quasi resonant converter fed DD servo drive using Matlab Simulink

    Directory of Open Access Journals (Sweden)

    Kattamuri Narasimha Rao

    2009-01-01

    Full Text Available This paper deals with digital simulation of FM-ZCS-quasi resonant converter fed DC servo drive using Matlab Simulink. Quasi Resonant Converter (QRC is fast replacing conventional PWM converters in high frequency operation. The salient feature of QRC is that the switching devices can be either switched on at zero voltage or switched off at zero current, so that switching losses are zero ideally. Switching stresses are low, volumes are low and power density is high. This property imparts high efficiency and high power density to the converters. The output of QRC is regulated by varying the switching frequency of the converter. Hence it is called Frequency modulated Zero current/zero voltage switching quasi resonant converter. The present work deals with simulation of DC Servo motor fed from ZCS-QRC using Matlab. Simulation results show that the ZCS-QRC's have low total harmonic distortion. The ZCS-QRC operating in half wave and full wave modes are simulated successfully. .

  4. SU-F-J-204: Carbon Digitally Reconstructed Radiography (CDRR): A GPU Based Tool for Fast and Versatile Carbonimaging Simulation

    International Nuclear Information System (INIS)

    Dias, M F; Seco, J; Baroni, G; Riboldi, M

    2016-01-01

    Purpose: Research in carbon imaging has been growing over the past years, as a way to increase treatment accuracy and patient positioning in carbon therapy. The purpose of this tool is to allow a fast and flexible way to generate CDRR data without the need to use Monte Carlo (MC) simulations. It can also be used to predict future clinically measured data. Methods: A python interface has been developed, which uses information from CT or 4DCT and thetreatment calibration curve to compute the Water Equivalent Path Length (WEPL) of carbon ions. A GPU based ray tracing algorithm computes the WEPL of each individual carbon traveling through the CT voxels. A multiple peak detection method to estimate high contrast margin positioning has been implemented (described elsewhere). MC simulations have been used to simulate carbons depth dose curves in order to simulate the response of a range detector. Results: The tool allows the upload of CT or 4DCT images. The user has the possibility to selectphase/slice of interested as well as position, angle…). The WEPL is represented as a range detector which can be used to assess range dilution and multiple peak detection effects. The tool also provides knowledge of the minimum energy that should be considered for imaging purposes. The multiple peak detection method has been used in a lung tumor case, showing an accuracy of 1mm in determine the exact interface position. Conclusion: The tool offers an easy and fast way to simulate carbon imaging data. It can be used for educational and for clinical purposes, allowing the user to test beam energies and angles before real acquisition. An analysis add-on is being developed, where the used will have the opportunity to select different reconstruction methods and detector types (range or energy). Fundacao para a Ciencia e a Tecnologia (FCT), PhD Grant number SFRH/BD/85749/2012

  5. SU-F-J-204: Carbon Digitally Reconstructed Radiography (CDRR): A GPU Based Tool for Fast and Versatile Carbonimaging Simulation

    Energy Technology Data Exchange (ETDEWEB)

    Dias, M F [Dipartamento di Elettronica, Informazione e Bioingegneria - DEIB, Politecnico di Milano (Italy); Department of Radiation Oncology, Francis H. Burr Proton Therapy Center Massachusetts General Hospital (MGH), Boston, Massachusetts (United States); Seco, J [Department of Radiation Oncology, Francis H. Burr Proton Therapy Center Massachusetts General Hospital (MGH), Boston, Massachusetts (United States); Baroni, G; Riboldi, M [Dipartamento di Elettronica, Informazione e Bioingegneria - DEIB, Politecnico di Milano (Italy); Bioengineering Unit, Centro Nazionale di Adroterapia Oncologica, Pavia (Italy)

    2016-06-15

    Purpose: Research in carbon imaging has been growing over the past years, as a way to increase treatment accuracy and patient positioning in carbon therapy. The purpose of this tool is to allow a fast and flexible way to generate CDRR data without the need to use Monte Carlo (MC) simulations. It can also be used to predict future clinically measured data. Methods: A python interface has been developed, which uses information from CT or 4DCT and thetreatment calibration curve to compute the Water Equivalent Path Length (WEPL) of carbon ions. A GPU based ray tracing algorithm computes the WEPL of each individual carbon traveling through the CT voxels. A multiple peak detection method to estimate high contrast margin positioning has been implemented (described elsewhere). MC simulations have been used to simulate carbons depth dose curves in order to simulate the response of a range detector. Results: The tool allows the upload of CT or 4DCT images. The user has the possibility to selectphase/slice of interested as well as position, angle…). The WEPL is represented as a range detector which can be used to assess range dilution and multiple peak detection effects. The tool also provides knowledge of the minimum energy that should be considered for imaging purposes. The multiple peak detection method has been used in a lung tumor case, showing an accuracy of 1mm in determine the exact interface position. Conclusion: The tool offers an easy and fast way to simulate carbon imaging data. It can be used for educational and for clinical purposes, allowing the user to test beam energies and angles before real acquisition. An analysis add-on is being developed, where the used will have the opportunity to select different reconstruction methods and detector types (range or energy). Fundacao para a Ciencia e a Tecnologia (FCT), PhD Grant number SFRH/BD/85749/2012.

  6. Current and capacitance measurements as a fast diagnostic tool for evaluation of semiconductor parameters

    CERN Document Server

    Kemmer, J; Krause, N; Krieglmeyer, C; Yang Yi

    2000-01-01

    A fast qualitative method is described for evaluation of semiconductor parameters by analyzing both the capacitance/voltage (C/V) and current/voltage (I/V) characteristics of pn- or Schottky-diodes, which are fabricated on the material under investigation. The method is applied for measurement of recombination and generation lifetimes of minority charge carriers and for determination of doping profiles and distribution of active generation/recombination (G/R) centers after irradiation with Am-alpha particles and deep phosphorus implantation. Measurements on epitaxial silicon result in doping profiles and distributions of active impurities within the epi-layer.

  7. Spatial recurrence analysis: A sensitive and fast detection tool in digital mammography

    International Nuclear Information System (INIS)

    Prado, T. L.; Galuzio, P. P.; Lopes, S. R.; Viana, R. L.

    2014-01-01

    Efficient diagnostics of breast cancer requires fast digital mammographic image processing. Many breast lesions, both benign and malignant, are barely visible to the untrained eye and requires accurate and reliable methods of image processing. We propose a new method of digital mammographic image analysis that meets both needs. It uses the concept of spatial recurrence as the basis of a spatial recurrence quantification analysis, which is the spatial extension of the well-known time recurrence analysis. The recurrence-based quantifiers are able to evidence breast lesions in a way as good as the best standard image processing methods available, but with a better control over the spurious fragments in the image

  8. Can the FAST and ROSIER adult stroke recognition tools be applied to confirmed childhood arterial ischemic stroke?

    Directory of Open Access Journals (Sweden)

    Babl Franz E

    2011-10-01

    Full Text Available Abstract Background Stroke recognition tools have been shown to improve diagnostic accuracy in adults. Development of a similar tool in children is needed to reduce lag time to diagnosis. A critical first step is to determine whether adult stoke scales can be applied in childhood stroke. Our objective was to assess the applicability of adult stroke scales in childhood arterial ischemic stroke (AIS Methods Children aged 1 month to Results 47 children with AIS were identified. 34 had anterior, 12 had posterior and 1 child had anterior and posterior circulation infarcts. Median age was 9 years and 51% were male. Median time from symptom onset to ED presentation was 21 hours but one third of children presented within 6 hours. The most common presenting stroke symptoms were arm (63%, face (62%, leg weakness (57%, speech disturbance (46% and headache (46%. The most common signs were arm (61%, face (70% or leg weakness (57% and dysarthria (34%. 36 (78% of children had at least one positive variable on FAST and 38 (81% had a positive score of ≥1 on the ROSIER scale. Positive scores were less likely in children with posterior circulation stroke. Conclusion The presenting features of pediatric stroke appear similar to adult strokes. Two adult stroke recognition tools have fair to good sensitivity in radiologically confirmed childhood AIS but require further development and modification. Specificity of the tools also needs to be determined in a prospective cohort of children with stroke and non-stroke brain attacks.

  9. Fast neutrons: Inexpensive and reliable tool to investigate high-LET particle radiobiology

    International Nuclear Information System (INIS)

    Gueulette, J.; Slabbert, J.P.; Bischoff, P.; Denis, J.M.; Wambersie, A.; Jones, D.

    2010-01-01

    Radiation therapy with carbon ions as well as missions into outer space have boosted the interest for high-LET particle radiobiology. Optimization of treatments in accordance with technical developments, as well as the radioprotection of cosmonauts during long missions require that research in these domains continue. Therefore suitable radiation fields are needed. Fast neutrons and carbon ions exhibit comparable LET values and similar radiobiological properties. Consequently, the findings obtained with each radiation quality could be shared to benefit knowledge in all concerned domains. The p(66+Be) neutron therapy facilities of iThemba LABS (South Africa) and the p(65)+Be neutron facility of Louvain-la-Neuve (Belgium) are in constant use to do radiobiological research for clinical applications with fast neutrons. These beams - which comply with all physical and technical requirements for clinical applications - are now fully reliable, easy to use and frequently accessible for radiobiological investigations. These facilities thus provide unique opportunities to undertake radiobiological experimentation, especially for investigations that require long irradiation times and/or fractionated treatments.

  10. The GlycanBuilder: a fast, intuitive and flexible software tool for building and displaying glycan structures.

    Science.gov (United States)

    Ceroni, Alessio; Dell, Anne; Haslam, Stuart M

    2007-08-07

    Carbohydrates play a critical role in human diseases and their potential utility as biomarkers for pathological conditions is a major driver for characterization of the glycome. However, the additional complexity of glycans compared to proteins and nucleic acids has slowed the advancement of glycomics in comparison to genomics and proteomics. The branched nature of carbohydrates, the great diversity of their constituents and the numerous alternative symbolic notations, make the input and display of glycans not as straightforward as for example the amino-acid sequence of a protein. Every glycoinformatic tool providing a user interface would benefit from a fast, intuitive, appealing mechanism for input and output of glycan structures in a computer readable format. A software tool for building and displaying glycan structures using a chosen symbolic notation is described here. The "GlycanBuilder" uses an automatic rendering algorithm to draw the saccharide symbols and to place them on the drawing board. The information about the symbolic notation is derived from a configurable graphical model as a set of rules governing the aspect and placement of residues and linkages. The algorithm is able to represent a structure using only few traversals of the tree and is inherently fast. The tool uses an XML format for import and export of encoded structures. The rendering algorithm described here is able to produce high-quality representations of glycan structures in a chosen symbolic notation. The automated rendering process enables the "GlycanBuilder" to be used both as a user-independent component for displaying glycans and as an easy-to-use drawing tool. The "GlycanBuilder" can be integrated in web pages as a Java applet for the visual editing of glycans. The same component is available as a web service to render an encoded structure into a graphical format. Finally, the "GlycanBuilder" can be integrated into other applications to create intuitive and appealing user

  11. The GlycanBuilder: a fast, intuitive and flexible software tool for building and displaying glycan structures

    Directory of Open Access Journals (Sweden)

    Dell Anne

    2007-08-01

    Full Text Available Abstract Background Carbohydrates play a critical role in human diseases and their potential utility as biomarkers for pathological conditions is a major driver for characterization of the glycome. However, the additional complexity of glycans compared to proteins and nucleic acids has slowed the advancement of glycomics in comparison to genomics and proteomics. The branched nature of carbohydrates, the great diversity of their constituents and the numerous alternative symbolic notations, make the input and display of glycans not as straightforward as for example the amino-acid sequence of a protein. Every glycoinformatic tool providing a user interface would benefit from a fast, intuitive, appealing mechanism for input and output of glycan structures in a computer readable format. Results A software tool for building and displaying glycan structures using a chosen symbolic notation is described here. The "GlycanBuilder" uses an automatic rendering algorithm to draw the saccharide symbols and to place them on the drawing board. The information about the symbolic notation is derived from a configurable graphical model as a set of rules governing the aspect and placement of residues and linkages. The algorithm is able to represent a structure using only few traversals of the tree and is inherently fast. The tool uses an XML format for import and export of encoded structures. Conclusion The rendering algorithm described here is able to produce high-quality representations of glycan structures in a chosen symbolic notation. The automated rendering process enables the "GlycanBuilder" to be used both as a user-independent component for displaying glycans and as an easy-to-use drawing tool. The "GlycanBuilder" can be integrated in web pages as a Java applet for the visual editing of glycans. The same component is available as a web service to render an encoded structure into a graphical format. Finally, the "GlycanBuilder" can be integrated into other

  12. Stability and servo-control of the crystal pulling process

    International Nuclear Information System (INIS)

    Johansen, T.H.

    1990-11-01

    The paper analyzes why the crystal pulling process needs servo-control, and how it can be implemented. Special emphasis is put on the fundamental question of inherent stability, and how to interpret the signal from a balance when the weighing method is used for cystal diameter detection. 15 refs., 13 figs

  13. Visual servo control for a human-following robot

    CSIR Research Space (South Africa)

    Burke, Michael G

    2011-03-01

    Full Text Available This thesis presents work completed on the design of control and vision components for use in a monocular vision-based human-following robot. The use of vision in a controller feedback loop is referred to as vision-based or visual servo control...

  14. Electrical servo actuator bracket. [fuel control valves on jet engines

    Science.gov (United States)

    Sawyer, R. V. (Inventor)

    1981-01-01

    An electrical servo actuator is mounted on a support arm which is allowed to pivot on a bolt through a fixed mounting bracket. The actuator is pivotally connected to the end of the support arm by a bolt which has an extension allowed to pass through a slot in the fixed mounting bracket. An actuator rod extends from the servo actuator to a crank arm which turns a control shaft. A short linear thrust of the rod pivots the crank arm through about 90 for full-on control with the rod contracted into the servo actuator, and full-off control when the rod is extended from the actuator. A spring moves the servo actuator and actuator rod toward the control crank arm once the actuator rod is fully extended in the full-off position. This assures the turning of the control shaft to a full-off position. A stop bolt and slot are provided to limit pivot motion. Once fully extended, the spring pivots the motion.

  15. MA-23-6000: underwater bilateral servo master slave manipulator

    International Nuclear Information System (INIS)

    Vertut, Jean

    The different types of manipulators, recent data on their dexterity and the underwater work possible with servo master slave manipulators are reviewed. The general specifications of the manipulator MA 23-6000 designed for the machine ERIC II are given [fr

  16. Benchmarking of fast-running software tools used to model releases during nuclear accidents

    Energy Technology Data Exchange (ETDEWEB)

    Devitt, P.; Viktorov, A., E-mail: Peter.Devitt@cnsc-ccsn.gc.ca, E-mail: Alex.Viktorov@cnsc-ccsn.gc.ca [Canadian Nuclear Safety Commission, Ottawa, ON (Canada)

    2015-07-01

    Fukushima highlighted the importance of effective nuclear accident response. However, its complexity greatly impacted the ability to provide timely and accurate information to national and international stakeholders. Safety recommendations provided by different national and international organizations varied notably. Such differences can partially be attributed to different methods used in the initial assessment of accident progression and the amount of radioactivity release.Therefore, a comparison of methodologies was undertaken by the NEA/CSNI and its highlights are presented here. For this project, the prediction tools used by various emergency response organizations for estimating the source terms and public doses were examined. Those organizations that have a capability to use such tools responded to a questionnaire describing each code's capabilities and main algorithms. Then the project's participants analyzed five accident scenarios to predict the source term, dispersion of releases and public doses. (author)

  17. Fast scattering simulation tool for multi-energy x-ray imaging

    Energy Technology Data Exchange (ETDEWEB)

    Sossin, A., E-mail: artur.sossin@cea.fr [CEA-LETI MINATEC Grenoble, F-38054 Grenoble (France); Tabary, J.; Rebuffel, V. [CEA-LETI MINATEC Grenoble, F-38054 Grenoble (France); Létang, J.M.; Freud, N. [Université de Lyon, CREATIS, CNRS UMR5220, Inserm U1044, INSA-Lyon, Université Claude Bernard Lyon 1, Centre Léon Bérard (France); Verger, L. [CEA-LETI MINATEC Grenoble, F-38054 Grenoble (France)

    2015-12-01

    A combination of Monte Carlo (MC) and deterministic approaches was employed as a means of creating a simulation tool capable of providing energy resolved x-ray primary and scatter images within a reasonable time interval. Libraries of Sindbad, a previously developed x-ray simulation software, were used in the development. The scatter simulation capabilities of the tool were validated through simulation with the aid of GATE and through experimentation by using a spectrometric CdTe detector. A simple cylindrical phantom with cavities and an aluminum insert was used. Cross-validation with GATE showed good agreement with a global spatial error of 1.5% and a maximum scatter spectrum error of around 6%. Experimental validation also supported the accuracy of the simulations obtained from the developed software with a global spatial error of 1.8% and a maximum error of around 8.5% in the scatter spectra.

  18. Photoelectric radar servo control system based on ARM+FPGA

    Science.gov (United States)

    Wu, Kaixuan; Zhang, Yue; Li, Yeqiu; Dai, Qin; Yao, Jun

    2016-01-01

    In order to get smaller, faster, and more responsive requirements of the photoelectric radar servo control system. We propose a set of core ARM + FPGA architecture servo controller. Parallel processing capability of FPGA to be used for the encoder feedback data, PWM carrier modulation, A, B code decoding processing and so on; Utilizing the advantage of imaging design in ARM Embedded systems achieves high-speed implementation of the PID algorithm. After the actual experiment, the closed-loop speed of response of the system cycles up to 2000 times/s, in the case of excellent precision turntable shaft, using a PID algorithm to achieve the servo position control with the accuracy of + -1 encoder input code. Firstly, This article carry on in-depth study of the embedded servo control system hardware to determine the ARM and FPGA chip as the main chip with systems based on a pre-measured target required to achieve performance requirements, this article based on ARM chip used Samsung S3C2440 chip of ARM7 architecture , the FPGA chip is chosen xilinx's XC3S400 . ARM and FPGA communicate by using SPI bus, the advantage of using SPI bus is saving a lot of pins for easy system upgrades required thereafter. The system gets the speed datas through the photoelectric-encoder that transports the datas to the FPGA, Then the system transmits the datas through the FPGA to ARM, transforms speed datas into the corresponding position and velocity data in a timely manner, prepares the corresponding PWM wave to control motor rotation by making comparison between the position data and the velocity data setted in advance . According to the system requirements to draw the schematics of the photoelectric radar servo control system and PCB board to produce specially. Secondly, using PID algorithm to control the servo system, the datas of speed obtained from photoelectric-encoder is calculated position data and speed data via high-speed digital PID algorithm and coordinate models. Finally, a

  19. A parameter estimation for DC servo motor by using optimization process

    International Nuclear Information System (INIS)

    Arjoni Amir

    2010-01-01

    Modeling and simulation parameters of DC servo motor using Matlab Simulink software have been done. The objective to define the DC servo motor parameter estimation is to get DC servo motor parameter values (B, La, Ra, Km, J) which are significant value that can be used for actuation process of control systems. In the analysis of control systems DC the servo motor expressed by transfer function equation to make faster to be analyzed as a component of the actuator. To obtain the data model parameters and initial conditions of the DC servo motors is then carried out the processor modeling and simulation in which the DC servo motor combined with other components. To obtain preliminary data of the DC servo motor parameters as estimated venue, it is obtained from the data factory of the DC servo motor. The initial data parameters of the DC servo motor are applied for the optimization process by using nonlinear least square algorithm and minimize the cost function value so that the DC servo motors parameter values are obtained significantly. The result of the optimization process of the DC servo motor parameter values are B = 0.039881, J= 1.2608e-007, Km = 0.069648, La = 2.3242e-006 and Ra = 1.8837. (author)

  20. Precision position control of servo systems using adaptive back-stepping and recurrent fuzzy neural networks

    International Nuclear Information System (INIS)

    Kim, Han Me; Kim, Jong Shik; Han, Seong Ik

    2009-01-01

    To improve position tracking performance of servo systems, a position tracking control using adaptive back-stepping control(ABSC) scheme and recurrent fuzzy neural networks(RFNN) is proposed. An adaptive rule of the ABSC based on system dynamics and dynamic friction model is also suggested to compensate nonlinear dynamic friction characteristics. However, it is difficult to reduce the position tracking error of servo systems by using only the ABSC scheme because of the system uncertainties which cannot be exactly identified during the modeling of servo systems. Therefore, in order to overcome system uncertainties and then to improve position tracking performance of servo systems, the RFNN technique is additionally applied to the servo system. The feasibility of the proposed control scheme for a servo system is validated through experiments. Experimental results show that the servo system with ABS controller based on the dual friction observer and RFNN including the reconstruction error estimator can achieve desired tracking performance and robustness

  1. The Improved SVM Multi Objects' Identification For the Uncalibrated Visual Servoing

    Directory of Open Access Journals (Sweden)

    Min Wang

    2009-03-01

    Full Text Available For the assembly of multi micro objects in micromanipulation, the first task is to identify multi micro parts. We present an improved support vector machine algorithm, which employs invariant moments based edge extraction to obtain feature attribute and then presents a heuristic attribute reduction algorithm based on rough set's discernibility matrix to obtain attribute reduction, with using support vector machine to identify and classify the targets. The visual servoing is the second task. For avoiding the complicated calibration of intrinsic parameter of camera, We apply an improved broyden's method to estimate the image jacobian matrix online, which employs chebyshev polynomial to construct a cost function to approximate the optimization value, obtaining a fast convergence for online estimation. Last, a two DOF visual controller based fuzzy adaptive PD control law for micro-manipulation is presented. The experiments of micro-assembly of micro parts in microscopes confirm that the proposed methods are effective and feasible.

  2. The Improved SVM Multi Objects's Identification for the Uncalibrated Visual Servoing

    Directory of Open Access Journals (Sweden)

    Xiangjin Zeng

    2009-03-01

    Full Text Available For the assembly of multi micro objects in micromanipulation, the first task is to identify multi micro parts. We present an improved support vector machine algorithm, which employs invariant moments based edge extraction to obtain feature attribute and then presents a heuristic attribute reduction algorithm based on rough set's discernibility matrix to obtain attribute reduction, with using support vector machine to identify and classify the targets. The visual servoing is the second task. For avoiding the complicated calibration of intrinsic parameter of camera, We apply an improved broyden's method to estimate the image jacobian matrix online, which employs chebyshev polynomial to construct a cost function to approximate the optimization value, obtaining a fast convergence for online estimation. Last, a two DOF visual controller based fuzzy adaptive PD control law for micro-manipulation is presented. The experiments of micro-assembly of micro parts in microscopes confirm that the proposed methods are effective and feasible.

  3. SOAP: A Tool for the Fast Computation of Photometry and Radial Velocity Induced by Stellar Spots

    Science.gov (United States)

    Boisse, I.; Bonfils, X.; Santos, N. C.; Figueira, P.

    2013-04-01

    Dark spots and bright plages are present on the surface of dwarf stars from spectral types F to M, even in their low-active phase (like the Sun). Their appearance and disappearance on the stellar photosphere, combined with the stellar rotation, may lead to errors and uncertainties in the characterization of planets both in radial velocity (RV) and photometry. Spot Oscillation and Planet (SOAP) is a tool offered to the community that enables to simulate spots and plages on rotating stars and computes their impact on RV and photometric measurements. This tool will help to understand the challenges related to the knowledge of stellar activity for the next decade: detect telluric planets in the habitable zone of their stars (from G to M dwarfs), understand the activity in the low-mass end of M dwarf (on which future projects, like SPIRou or CARMENES, will focus), limitation to the characterization of the exoplanetary atmosphere (from the ground or with Spitzer, JWST), search for planets around young stars. These can be simulated with SOAP in order to search for indices and corrections to the effect of activity.

  4. Optimization and performance characteristics of servo-piston hydraulic control rod drive mechanism

    International Nuclear Information System (INIS)

    Yu Mingrui; Han Weishi; Wang Ge

    2014-01-01

    This paper introduces the structure and working principles of the servo-piston hydraulic control rod drive mechanism (SHCM), which can be moved continuously and has self-lock capacity. The steady state characteristics of SHCM are simulated using FLUENT codes. Based on comparison with the experimental results, the simulation is proven to be credible as a tool to describe the steady state characteristics. Finally, the influence of structural parameters is analyzed to obtain an optimal design. The experimental results indicate that the traction of the servo-tube is larger in the starting and braking stages. The resistance coefficient of SHCM increases gradually in the starting and lifting stage, and then tends to be stable. This coefficient has a maximum value while the inlet pressure is low. Performance norms of SHCM, such as the anti-disturbance ability and positioning accuracy, are tested, the anti-disturbance ability of the actuator is strong while the inlet pressure is fluctuating. The positioning accuracy is high regardless of the action process (lifting or not). (author)

  5. Servo-controlled pneumatic pressure oscillator for respiratory impedance measurements and high-frequency ventilation.

    Science.gov (United States)

    Kaczka, David W; Lutchen, Kenneth R

    2004-04-01

    The ability to provide forced oscillatory excitation of the respiratory system can be useful in mechanical impedance measurements as well as high frequency ventilation (HFV). Experimental systems currently used for generating forced oscillations are limited in their ability to provide high amplitude flows or maintain the respiratory system at a constant mean pressure during excitation. This paper presents the design and implementation of a pneumatic pressure oscillator based on a proportional solenoid valve. The device is capable of providing forced oscillatory excitations to the respiratory system over a bandwidth suitable for mechanical impedance measurements and HVF. It delivers high amplitude flows (> 1.4 l/s) and utilizes a servo-control mechanism to maintain a load at a fixed mean pressure during simultaneous oscillation. Under open-loop conditions, the device exhibited a static hysteresis of approximately 7%, while its dynamic magnitude and phase responses were flat out to 10 Hz. Broad-band measurement of total harmonic distortion was approximately 19%. Under closed-loop conditions, the oscillator was able to maintain a mechanical test load at both positive and negative mean pressures during oscillatory excitations from 0.1 to 10.0 Hz. Impedance of the test load agreed closely with theoretical predictions. We conclude that this servo-controlled oscillator can be a useful tool for respiratory impedance measurements as well as HFV.

  6. Single-cell analysis by ICP-MS/MS as a fast tool for cellular bioavailability studies of arsenite.

    Science.gov (United States)

    Meyer, S; López-Serrano, A; Mitze, H; Jakubowski, N; Schwerdtle, T

    2018-01-24

    Single-cell inductively coupled plasma mass spectrometry (SC-ICP-MS) has become a powerful and fast tool to evaluate the elemental composition at a single-cell level. In this study, the cellular bioavailability of arsenite (incubation of 25 and 50 μM for 0-48 h) has been successfully assessed by SC-ICP-MS/MS for the first time directly after re-suspending the cells in water. This procedure avoids the normally arising cell membrane permeabilization caused by cell fixation methods (e.g. methanol fixation). The reliability and feasibility of this SC-ICP-MS/MS approach with a limit of detection of 0.35 fg per cell was validated by conventional bulk ICP-MS/MS analysis after cell digestion and parallel measurement of sulfur and phosphorus.

  7. Hazard assessment of exhaust emissions - The next generation of fast and reliable tools for in vitro screening

    Science.gov (United States)

    Rothen-Rutishauser, B.

    2017-12-01

    Hazard assessment of exhaust emissions - The next generation of fast and reliable tools for in vitro screening Barbara Rothen-Rutishauser Adolphe Merkle Institute, University of Fribourg, Switzerland; barbara.rothen@unifr.ch Pollution by vehicles is a major problem for the environment due to the various components in the exhaust gasses that are emitted into the atmosphere. A large number of epidemiological studies demonstrate the profound impact of vehicle emissions upon human health [1-3]. Such studies however, are unable to attribute a given subset of emissions to a certain adverse effect, which renders decision making difficult. Standardized protocols for exhaust toxicity assessment are lacking and it relies in many aspects on epidemiological and in vivo studies (animals), which are very time and cost-intensive and suffer from considerable ethical issues. An overview about the current state of research and clinical aspects in the field, as well as about the development of sophisticated in vitro approaches mimicking the inhalation of airborne particles / exhaust for the toxicological testing of engine emissions will be provided. Data will be presented that show that the combination of an air-liquid exposure system and 3D lung-cell culture model offers an adequate tool for fast and reliable investigations of complete exhaust toxicity as well as the effects of particulate fraction [4,5]. This approach yields important results for novel and improved emission technologies in the early stages of product development. [1] Donaldson et al. Part Fibre Toxicol 2005, 2: 10. [2] Ghio et al. J Toxicol Environ Health B Crit Rev 2012, 15: 1-21. [3] Peters et al. Res Rep Health Eff Inst 2009, 5-77. [4] Bisig et al. Emiss Control Sci Technol 2015, 1: 237-246. [5] Steiner et al. Atmos Environ 2013, 81: 380-388.

  8. Further development of the fast beam dynamics simulation tool V-code

    Energy Technology Data Exchange (ETDEWEB)

    Franke, Sylvain; Ackermann, Wolfgang; Weiland, Thomas [Institut fuer Theorie Elektromagnetischer Felder, TU Darmstadt (Germany)

    2010-07-01

    The Vlasov equation describes the evolution of a particle density under the effects of electromagnetic fields. It is derived from the fact that the volume occupied by a given number of particles in the six-dimensional phase space remains constant when only long-range interaction as for example Coulomb forces are relevant and other particle collisions can be neglected. Because this is the case for typical charged particle beams in accelerators, the Vlasov equation can be used to describe their evolution within the whole beam line. This equation is a partial differential equation in 6D and thus it is very expensive to solve it via classical numerical methods. A more efficient approach consists in representing the particle distribution function by a discrete set of characteristic moments. For each moment a time evolution equation can be stated. These ordinary differential equations can then be evaluated efficiently by means of time integration methods if all considered forces and a proper initial condition are known. The beam dynamics simulation tool V-Code implemented at TEMF utilizes this approach.

  9. LFQuant: a label-free fast quantitative analysis tool for high-resolution LC-MS/MS proteomics data.

    Science.gov (United States)

    Zhang, Wei; Zhang, Jiyang; Xu, Changming; Li, Ning; Liu, Hui; Ma, Jie; Zhu, Yunping; Xie, Hongwei

    2012-12-01

    Database searching based methods for label-free quantification aim to reconstruct the peptide extracted ion chromatogram based on the identification information, which can limit the search space and thus make the data processing much faster. The random effect of the MS/MS sampling can be remedied by cross-assignment among different runs. Here, we present a new label-free fast quantitative analysis tool, LFQuant, for high-resolution LC-MS/MS proteomics data based on database searching. It is designed to accept raw data in two common formats (mzXML and Thermo RAW), and database search results from mainstream tools (MASCOT, SEQUEST, and X!Tandem), as input data. LFQuant can handle large-scale label-free data with fractionation such as SDS-PAGE and 2D LC. It is easy to use and provides handy user interfaces for data loading, parameter setting, quantitative analysis, and quantitative data visualization. LFQuant was compared with two common quantification software packages, MaxQuant and IDEAL-Q, on the replication data set and the UPS1 standard data set. The results show that LFQuant performs better than them in terms of both precision and accuracy, and consumes significantly less processing time. LFQuant is freely available under the GNU General Public License v3.0 at http://sourceforge.net/projects/lfquant/. © 2012 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  10. Visual Servoing of Mobile Microrobot with Centralized Camera

    Directory of Open Access Journals (Sweden)

    Kiswanto Gandjar

    2018-01-01

    Full Text Available In this paper, a mechanism of visual servoing for mobile microrobot with a centralized camera is developed. Especially for the development of swarm AI applications. In the fields of microrobots the size of robots is minimal and the amount of movement is also small. By replacing various sensors that is needed with a single centralized vision sensor we can eliminate a lot of components and the need for calibration on every robot. A study and design for a visual servoing mobile microrobot has been developed. This system can use multi object tracking and hough transform to identify the positions of the robots. And can control multiple robots at once with an accuracy of 5-6 pixel from the desired target.

  11. Active Vibration Isolation Devices with Inertial Servo Actuators

    Science.gov (United States)

    Melik-Shakhnazarov, V. A.; Strelov, V. I.; Sofiyanchuk, D. V.; Tregubenko, A. A.

    2018-03-01

    The use of active vibration isolation devices (AVIDs) in aerospace engineering is subject to the following restrictions. First, the volume for installing additional devices is always limited in instrument racks and compartments. Secondly, in many cases, it is impossible to add supports for servo actuators for fundamental or design considerations. In the paper, it has been shown that this problem can be solved if the inertial servo actuators are used in AVIDs instead of reference actuators. A transfer function has been theoretically calculated for an AVID controlled by inertial actuators. It has been shown that the volume of a six-mode single-housing AVID with inertial actuators can be 2-2.5 times smaller than that of devices with support actuators.

  12. The research on algorithms for optoelectronic tracking servo control systems

    Science.gov (United States)

    Zhu, Qi-Hai; Zhao, Chang-Ming; Zhu, Zheng; Li, Kun

    2016-10-01

    The photoelectric servo control system based on PC controllers is mainly used to control the speed and position of the load. This paper analyzed the mathematical modeling and the system identification of the servo system. In the aspect of the control algorithm, the IP regulator, the fuzzy PID, the Active Disturbance Rejection Control (ADRC) and the adaptive algorithms were compared and analyzed. The PI-P control algorithm was proposed in this paper, which not only has the advantages of the PI regulator that can be quickly saturated, but also overcomes the shortcomings of the IP regulator. The control system has a good starting performance and the anti-load ability in a wide range. Experimental results show that the system has good performance under the guarantee of the PI-P control algorithm.

  13. Inherent limitations of fixed time servo-controlled radiometric calorimetry

    International Nuclear Information System (INIS)

    Wetzel, J.R.; Duff, M.F.; Lemming, J.F.

    1987-01-01

    There has been some interest in low precision, short run time calorimetry measurements. This type of calorimetry measurement has been proposed for use when high precision measurements are not required, for example, to screen scrap containers to determine if there is enough material to be measured more accurately of for confirmatory measurements that only require low precision results. The equipment needed to make these measurements is a servo-controlled calorimeter with a sample preequilibration bath. The preequilibration bath temperature is set to the internal temperature of the calorimeter running at a fixed servo-controlled wattage level. The sample power value is determined at a fixed time form the sample loading into the calorimeter. There are some limitations and areas of uncertainties in the use of data obtained by this method. Data collected under controlled conditions demonstrate the limitations. Sample packaging, preequilibration time, and item wattage were chosen as the variables most likely to be encountered in a plant environment

  14. Research on intelligent algorithm of electro - hydraulic servo control system

    Science.gov (United States)

    Wang, Yannian; Zhao, Yuhui; Liu, Chengtao

    2017-09-01

    In order to adapt the nonlinear characteristics of the electro-hydraulic servo control system and the influence of complex interference in the industrial field, using a fuzzy PID switching learning algorithm is proposed and a fuzzy PID switching learning controller is designed and applied in the electro-hydraulic servo controller. The designed controller not only combines the advantages of the fuzzy control and PID control, but also introduces the learning algorithm into the switching function, which makes the learning of the three parameters in the switching function can avoid the instability of the system during the switching between the fuzzy control and PID control algorithms. It also makes the switch between these two control algorithm more smoother than that of the conventional fuzzy PID.

  15. Application of IFT and SPSA to servo system control.

    Science.gov (United States)

    Rădac, Mircea-Bogdan; Precup, Radu-Emil; Petriu, Emil M; Preitl, Stefan

    2011-12-01

    This paper treats the application of two data-based model-free gradient-based stochastic optimization techniques, i.e., iterative feedback tuning (IFT) and simultaneous perturbation stochastic approximation (SPSA), to servo system control. The representative case of controlled processes modeled by second-order systems with an integral component is discussed. New IFT and SPSA algorithms are suggested to tune the parameters of the state feedback controllers with an integrator in the linear-quadratic-Gaussian (LQG) problem formulation. An implementation case study concerning the LQG-based design of an angular position controller for a direct current servo system laboratory equipment is included to highlight the pros and cons of IFT and SPSA from an application's point of view. The comparison of IFT and SPSA algorithms is focused on an insight into their implementation.

  16. Pressure control of hydraulic servo system using proportional control valve

    International Nuclear Information System (INIS)

    Yang, Kyong Uk; Oh, In Ho; Lee, Ill Yeong

    1999-01-01

    The purpose of this study is to develop a control scheme for the hydraulic servo system which can rapidly control the pressure in a hydraulic cylinder with very short stroke. Compared with the negligible stroke of the cylinder in the system, the flow gain of the proportional pressure control valve constituting the hydraulic servo system is relatively large and the time delay on the response of the valve is quite long. Therefore, the pressure control system, in this study tends to get unstable during operations. Considering the above mentioned characteristics of the system, a two-degree-of-freedom control scheme, composed of the I-PDD 2 ... feedback compensator and the feedforward controller, is proposed. The reference model scheme is used in deciding the parameters of the controllers. The validity of the proposed control scheme is confirmed through the experiments

  17. Robust Control for High-Speed Visual Servoing Applications

    DEFF Research Database (Denmark)

    Ellekilde, Lars-Peter; Favrholdt, Peter; Paulin, Mads

    2007-01-01

    This paper presents a new control scheme for visual servoing applications. The approach employs quadratic optimization, and explicitly handles both joint position, velocity and acceleration limits. Contrary to existing techniques, our method does not rely on large safety margins and slow task...... execution to avoid joint limits, and is hence able to exploit the full potential of the robot. Furthermore, our control scheme guarantees a well-defined behavior of the robot even when it is in a singular configuration, and thus handles both internal and external singularities robustly. We demonstrate...... the correctness and efficiency of our approach in a number of visual servoing applications, and compare it to a range of previously proposed techniques....

  18. Experimental consideration for realizing image based visual servo control system

    International Nuclear Information System (INIS)

    Ishikawa, N.; Suzuki, K.; Fujii, Y.; Usui, H.

    1995-01-01

    In this study, we consider the experimental aspect of image based visual servo control system. The items considered are the following; 1) Inertial parameter estimation, 2) Focal point estimation, 3) Controller performance for the system with delay. From the experimental result of visual control, it is found that the system is very sensitive to the controller gain because of the computational delay of vision. In order to establish a satisfactory delay compensation, more investigations on controller design are required. (author)

  19. Frequency doubled dye laser with a servo-tuned crystal

    Energy Technology Data Exchange (ETDEWEB)

    Kuhl, J; Spitschan, H

    1975-01-01

    Spectral tuning of the uv output of a frequency doubled dye laser was successfully controlled by a servo motor system which tilts the nonlinear crystal appropriate for phase-matched second harmonic generation while the dye laser emission wavelength is tuned. The spatial direction of the generated uv beam was used as the regulating signal. The feasibility of this technique for spectroscopic applications was successfully tested.

  20. Servo control booster system for minimizing following error

    Science.gov (United States)

    Wise, W.L.

    1979-07-26

    A closed-loop feedback-controlled servo system is disclosed which reduces command-to-response error to the system's position feedback resolution least increment, ..delta..S/sub R/, on a continuous real-time basis, for all operational times of consequence and for all operating speeds. The servo system employs a second position feedback control loop on a by exception basis, when the command-to-response error greater than or equal to ..delta..S/sub R/, to produce precise position correction signals. When the command-to-response error is less than ..delta..S/sub R/, control automatically reverts to conventional control means as the second position feedback control loop is disconnected, becoming transparent to conventional servo control means. By operating the second unique position feedback control loop used herein at the appropriate clocking rate, command-to-response error may be reduced to the position feedback resolution least increment. The present system may be utilized in combination with a tachometer loop for increased stability.

  1. Provision of servo-controlled cooling during neonatal transport.

    Science.gov (United States)

    Johnston, Ewen D; Becher, Julie-Clare; Mitchell, Anne P; Stenson, Benjamin J

    2012-09-01

    Therapeutic hypothermia is a time critical intervention for infants who have experienced a hypoxic-ischaemic event. Previously reported methods of cooling during transport do not demonstrate the same stability achieved in the neonatal unit. The authors developed a system which allowed provision of servo-controlled cooling throughout transport, and present their first year's experience. Retrospective review of routinely collected patient data. 14 out-born infants were referred for cooling during a 12-month period. Nine infants were managed with the servo-controlled system during transport. Cooling was commenced in all infants before 6 h of life. Median time from team arrival to the infant having a temperature in the target range (33-34°C) was 45 min. Median temperature during transfer was 33.5°C (range 33-34°C). Temperature on arrival at the cooling centre ranged from 33.4°C to 33.8°C. Servo-controlled cooling during transport is feasible and provides an optimal level of thermal control.

  2. Modeling of R/C Servo Motor and Application to Underactuated Mechanical Systems

    Science.gov (United States)

    Ishikawa, Masato; Kitayoshi, Ryohei; Wada, Takashi; Maruta, Ichiro; Sugie, Toshiharu

    An R/C servo motor is a compact package of a DC geard-motor associated with a position servo controller. They are widely used in small-sized robotics and mechatronics by virtue of their compactness, easiness-to-use and high/weight ratio. However, it is crucial to clarify their internal model (including the embedded position servo) in order to improve control performance of mechatronic systems using R/C servo motors, such as biped robots or underactuted sysyems. In this paper, we propose a simple and realistic internal model of the R/C servo motors including the embedded servo controller, and estimate their physical parameters using continuous-time system identification method. We also provide a model of reference-to-torque transfer function so that we can estimate the internal torque acting on the load.

  3. A Design to Digitalize Hydraulic Cylinder Control of a Machine Tool ...

    African Journals Online (AJOL)

    Conventionally hydraulic piston - cylinder servos are actuated using analogue controls for machine tool axis drives. In this paper a design of the axis control system of an NC milling machine which employs a small stepping motor to digitally actuated hydraulic piston - cylinder servo drives existing on the machines Y-axis is ...

  4. Application of AC servo motor on the in-core neutron flux instrumentation system

    International Nuclear Information System (INIS)

    Du Xiaoguang; Wang Mingtao

    2010-01-01

    The application of ac servo motor in the In-Core Neutron Flux Instrumentation System is described. The hardware component of ac servo motor control system is different from the dc motor control system. The effect of two control system on the instrumentation system is compared. The ac servo motor control system can improve the accuracy of the motion control, optimize the speed control and increase the reliability. (authors)

  5. A Design Method of Robust Servo Internal Model Control with Control Input Saturation

    OpenAIRE

    山田, 功; 舩見, 洋祐

    2001-01-01

    In the present paper, we examine a design method of robust servo Internal Model Control with control input saturation. First of all, we clarify the condition that Internal Model Control has robust servo characteristics for the system with control input saturation. From this consideration, we propose new design method of Internal Model Control with robust servo characteristics. A numerical example to illustrate the effectiveness of the proposed method is shown.

  6. Modeling and stability of electro-hydraulic servo of hydraulic excavator

    Science.gov (United States)

    Jia, Wenhua; Yin, Chenbo; Li, Guo; Sun, Menghui

    2017-11-01

    The condition of the hydraulic excavator is complicated and the working environment is bad. The safety and stability of the control system is influenced by the external factors. This paper selects hydraulic excavator electro-hydraulic servo system as the research object. A mathematical model and simulation model using AMESIM of servo system is established. Then the pressure and flow characteristics are analyzed. The design and optimization of electro-hydraulic servo system and its application in engineering machinery is provided.

  7. Dreams of pneumatic servo and rail way cars in 2010; 2010 nen noyume kukiatsu servo to tetsudo sharyo

    Energy Technology Data Exchange (ETDEWEB)

    Sasaki, K. [Tokyo Precision Instruments Co. Ltd., Kanagawa (Japan)

    2000-01-15

    This paper describes pneumatic servo and railway cars. The comfort of railway cars is improved by reducing excess transverse centrifugal force, and longitudinal, transverse and vertical vibration. Pneumatic system plays a large role in the comfort. Pneumatic system is used for doors because of certain open/shut operation and protecting a hand caught in a door from excess tightening pressure. Pneumatic system is also used for mechanical brakes. Pneumatic spring for car suspensions improves the comfort considerably. The orifice and auxiliary tank of a pneumatic spring reduce a spring constant, and give damping to the vibration system of car bodies and springs. To reduce an outward excess centrifugal force by tilting a car body inward at curve, a body tilting equipment is used which is adopted for a pendulum car with pneumatic servo control, and a tilting car with height control of both side pneumatic springs. For transverse damping, semi-active equipment using oil damper is in wide use, while that using pneumatic servo is also in rial use. (NEDO)

  8. Position Control of Servo Systems Using Feed-Forward Friction Compensation

    International Nuclear Information System (INIS)

    Park, Min Gyu; Kim, Han Me; Shin, Jong Min; Kim, Jong Shik

    2009-01-01

    Friction is an important factor for precise position tracking control of servo systems. Servo systems with highly nonlinear friction are sensitive to the variation of operating condition. To overcome this problem, we use the LuGre friction model which can consider dynamic characteristics of friction. The LuGre friction model is used as a feed-forward compensator to improve tracking performance of servo systems. The parameters of the LuGre friction model are identified through experiments. The experimental result shows that the tracking performance of servo systems with higherly nonlinear friction can be improved by using feed-forward friction compensation

  9. The interrater and test-retest reliability of the Home Falls and Accidents Screening Tool (HOME FAST) in Malaysia: Using raters with a range of professional backgrounds.

    Science.gov (United States)

    Romli, Muhammad Hibatullah; Mackenzie, Lynette; Lovarini, Meryl; Tan, Maw Pin; Clemson, Lindy

    2017-06-01

    Falls can be a devastating issue for older people living in the community, including those living in Malaysia. Health professionals and community members have a responsibility to ensure that older people have a safe home environment to reduce the risk of falls. Using a standardised screening tool is beneficial to intervene early with this group. The Home Falls and Accidents Screening Tool (HOME FAST) should be considered for this purpose; however, its use in Malaysia has not been studied. Therefore, the aim of this study was to evaluate the interrater and test-retest reliability of the HOME FAST with multiple professionals in the Malaysian context. A cross-sectional design was used to evaluate interrater reliability where the HOME FAST was used simultaneously in the homes of older people by 2 raters and a prospective design was used to evaluate test-retest reliability with a separate group of older people at different times in their homes. Both studies took place in an urban area of Kuala Lumpur. Professionals from 9 professional backgrounds participated as raters in this study, and a group of 51 community older people were recruited for the interrater reliability study and another group of 30 for the test-retest reliability study. The overall agreement was moderate for interrater reliability and good for test-retest reliability. The HOME FAST was consistently rated by different professionals, and no bias was found among the multiple raters. The HOME FAST can be used with confidence by a variety of professionals across different settings. The HOME FAST can become a universal tool to screen for home hazards related to falls. © 2017 John Wiley & Sons, Ltd.

  10. All Digital IQ Servo-System for CERN Linacs

    CERN Document Server

    Broere, J; Garoby, R; Rohlev, A; Serrano, J

    2004-01-01

    A VME based control system has been developed and built at CERN for the servo loops regulating the field in linac accelerating structures. It is an all-digital system built on a single VME card, providing digital detection, processing, and modulation. It is foreseen to be used, in different versions, for the needs of both present and future CERN hadron linacs. The first application will be in the energy ramping RF chain of the CERN Heavy Ion Linac (linac 3). Design principle and the experimental results are described.

  11. Rancang Bangun Graphical User Interface Untuk Pergerakan Motor Servo menggunakan Microsoft Visual Basic 2010 Express

    Directory of Open Access Journals (Sweden)

    Anggoro S Pramudyo

    2016-03-01

    Full Text Available Zaman sekarang ini teknologi sedang berkembang pesat dan robot-robot dirancang untuk dapat membantu pekerjaan dan tugas-tugas manusia. Motor servo merupakan salah satu jenis dari motor DC dan banyak diaplikasikan pada dunia robotik maupun peralatan lain, contohnya motor servo yang digunakan untuk robot berkaki. Dalam penggunaannya motor servo dapat bergerak karena ada sinyal yang dibangkitkan melalui sinyal PWM. Sinyal yang dihasilkan akan membentuk sudut sesuai nilai yang diberikan. Penelitian ini bertujuan untuk membuat perangkat lunak GUI untuk membuat pergerakan motor servo menggunakan Microsoft Visual Basic dengan bantuan database menggunakan Microsoft Access. Pergerakan motor servo dapat bergerak secara sekuen dan real time menggunakan GUI yang dihubungkan dengan Arduino mega 2560. Parameter yang terdapat di dalam database juga bisa langsung di-export menjadi file Arduino. Hasil penelitian ini GUI yang telah dibuat dapat menggerakkan motor servo secara lancar melalui komunikasi serial ketika baudrate diatur pada kecepatan 9600 bps. GUI yang dibuat juga menghasilkan sudut untuk motor servo yaitu dari 00 sampai 1800 secara tepat dan akurat, sehingga mempercepat waktu dalam  menentukan sudut untuk pergerakan motor servo yang akan digunakan.

  12. Analysis and Design of Double-sided Air core Linear Servo Motor with Trapezoidal Permanent Magnets

    DEFF Research Database (Denmark)

    Zhang, Yuqiu; Yang, Zilong; Yu, Minghu

    2011-01-01

    In order to reduce the thrust ripple of linear servo system, a double-sided air core permanent magnet linear servo motor with trapezoidal shape permanent magnets (TDAPMLSM) is proposed in this paper. An analytical model of the motor for predicting the magnetic field in the air-gap at no...

  13. Analysis of a biphase-based servo format for hard-disk drives

    NARCIS (Netherlands)

    Makinwa, K.A.A.; Bergmans, J.W.M.; Voorman, J.O.

    2000-01-01

    Biphase modulation in an embedded-servo format for hard-disk drives is investigated. It is shown that for biphase, at the low linear densities typical of servo information, near-maximum-likelihood performance can be attained by a simple bit detector consisting of a full-response linear equalizer and

  14. Modelling and LPV control of an electro-hydraulic servo system

    NARCIS (Netherlands)

    Naus, G.J.L.; Wijnheijmer, F.P.; Post, W.J.A.E.M.; Steinbuch, M.; Teerhuis, A.P.

    2006-01-01

    This paper aims to show the modelling and control of an hydraulic servo system, targeting at frequency domain based controller design and the implementation of a LPV controller. The actual set-up consists of a mass, moved by a hydraulic cylinder and an electro-hydraulic servo valve. A nonlinear

  15. Analysis of the servo-spill control for slow beam extraction

    International Nuclear Information System (INIS)

    Sato, Hikaru; Toyama, Takeshi; Marutsuka, Katsumi; Shirakata, Masashi.

    1994-01-01

    This report describes an analysis of servo-spill control system for the slow beam extraction from the KEK PS. Transfer function of extraction process is derived from measurement of the closed-loop characteristic using measured frequency response of each equipment. Result indicates the restriction of the present servo-spill control and give a guide line for the improvement. (author)

  16. Suppression of mechanical resonance in digital servo system considering oscillation frequency deviation

    DEFF Research Database (Denmark)

    Chen, Yangyang; Yang, Ming; Hu, Kun

    2017-01-01

    High-stiffness servo system is easy to cause mechanical resonance in elastic coupling servo system. Although on-line adaptive notch filter is effective in most cases, it will lead to a severer resonance when resonance frequency deviated from the natural torsional frequency. To explain...

  17. Visual servoing in medical robotics: a survey. Part II: tomographic imaging modalities--techniques and applications.

    Science.gov (United States)

    Azizian, Mahdi; Najmaei, Nima; Khoshnam, Mahta; Patel, Rajni

    2015-03-01

    Intraoperative application of tomographic imaging techniques provides a means of visual servoing for objects beneath the surface of organs. The focus of this survey is on therapeutic and diagnostic medical applications where tomographic imaging is used in visual servoing. To this end, a comprehensive search of the electronic databases was completed for the period 2000-2013. Existing techniques and products are categorized and studied, based on the imaging modality and their medical applications. This part complements Part I of the survey, which covers visual servoing techniques using endoscopic imaging and direct vision. The main challenges in using visual servoing based on tomographic images have been identified. 'Supervised automation of medical robotics' is found to be a major trend in this field and ultrasound is the most commonly used tomographic modality for visual servoing. Copyright © 2014 John Wiley & Sons, Ltd.

  18. Strong stabilization servo controller with optimization of performance criteria.

    Science.gov (United States)

    Sarjaš, Andrej; Svečko, Rajko; Chowdhury, Amor

    2011-07-01

    Synthesis of a simple robust controller with a pole placement technique and a H(∞) metrics is the method used for control of a servo mechanism with BLDC and BDC electric motors. The method includes solving a polynomial equation on the basis of the chosen characteristic polynomial using the Manabe standard polynomial form and parametric solutions. Parametric solutions are introduced directly into the structure of the servo controller. On the basis of the chosen parametric solutions the robustness of a closed-loop system is assessed through uncertainty models and assessment of the norm ‖•‖(∞). The design procedure and the optimization are performed with a genetic algorithm differential evolution - DE. The DE optimization method determines a suboptimal solution throughout the optimization on the basis of a spectrally square polynomial and Šiljak's absolute stability test. The stability of the designed controller during the optimization is being checked with Lipatov's stability condition. Both utilized approaches: Šiljak's test and Lipatov's condition, check the robustness and stability characteristics on the basis of the polynomial's coefficients, and are very convenient for automated design of closed-loop control and for application in optimization algorithms such as DE. Copyright © 2011 ISA. Published by Elsevier Ltd. All rights reserved.

  19. Modeling, simulation, and identification of the servo pumps

    Energy Technology Data Exchange (ETDEWEB)

    Negoita, C G; Vasiliu, D; Vasiliu, Ne; Calinoiu, C, E-mail: claudia.negoita@gmail.co [Faculty of Power Engineering, University POLITEHNICA of Bucharest 313, Splaiul Independentei, Bucharest, 060042 (Romania)

    2010-08-15

    This paper contains the results of a systematic research on the steady-state behavior, and the transients occurring in a basic hydrostatic system containing a servo pump. The optimum structure of such a device working in given condition is found step by step, the synthesis stages are alternating with the analysis ones, in order to establish some general synthesis criteria, as well as for creating some images of the design parameters influence on the real system dynamic behavior. The dynamic computation of the servo pumps is based on the experimental researches carried out by the authors on the control force of the variable displacement axial piston pumps. The analysis takes into account the pressure feedback, the rigid or spring mechanical feedback or the electrical position feedback. The theoretical models are developed by AMESim (Advanced Modeling and Simulation Environment for Systems Engineering). The experimental tests were performed by the aid of LabVIEW software from National Instruments Corporation in the frame of a national certified laboratory set up by the aid of Parker Hannifin Corporation.

  20. Control-structure interaction in precision pointing servo loops

    Science.gov (United States)

    Spanos, John T.

    1989-01-01

    The control-structure interaction problem is addressed via stability analysis of a generic linear servo loop model. With the plant described by the rigid body mode and a single elastic mode, structural flexibility is categorized into one of three types: (1) appendage, (2) in-the-loop minimum phase, and (3) in-the-loop nonminimum phase. Closing the loop with proportional-derivative (PD) control action and introducing sensor roll-off dynamics in the feedback path, stability conditions are obtained. Trade studies are conducted with modal frequency, modal participation, modal damping, loop bandwidth, and sensor bandwidth treated as free parameters. Results indicate that appendage modes are most likely to produce instability if they are near the sensor rolloff, whereas in-the-loop modes are most dangerous near the loop bandwidth. The main goal of this paper is to provide a fundamental understanding of the control-structure interaction problem so that it may benefit the design of complex spacecraft and pointing system servo loops. In this framework, the JPL Pathfinder gimbal pointer is considered as an example.

  1. M2Lite: An Open-source, Light-weight, Pluggable and Fast Proteome Discoverer MSF to mzIdentML Tool.

    Science.gov (United States)

    Aiyetan, Paul; Zhang, Bai; Chen, Lily; Zhang, Zhen; Zhang, Hui

    2014-04-28

    Proteome Discoverer is one of many tools used for protein database search and peptide to spectrum assignment in mass spectrometry-based proteomics. However, the inadequacy of conversion tools makes it challenging to compare and integrate its results to those of other analytical tools. Here we present M2Lite, an open-source, light-weight, easily pluggable and fast conversion tool. M2Lite converts proteome discoverer derived MSF files to the proteomics community defined standard - the mzIdentML file format. M2Lite's source code is available as open-source at https://bitbucket.org/paiyetan/m2lite/src and its compiled binaries and documentation can be freely downloaded at https://bitbucket.org/paiyetan/m2lite/downloads.

  2. Pilot study to investigate the feasibility of the Home Falls and Accidents Screening Tool (HOME FAST) to identify older Malaysian people at risk of falls.

    Science.gov (United States)

    Romli, Muhammad Hibatullah; Mackenzie, Lynette; Lovarini, Meryl; Tan, Maw Pin

    2016-08-16

    The relationship between home hazards and falls in older Malaysian people is not yet fully understood. No tools to evaluate the Malaysian home environment currently exist. Therefore, this study aimed to pilot the Home Falls and Accidents Screening Tool (HOME FAST) to identify hazards in Malaysian homes, to evaluate the feasibility of using the HOME FAST in the Malaysian Elders Longitudinal Research (MELoR) study and to gather preliminary data about the experience of falls among a small sample of Malaysian older people. A cross-sectional pilot study was conducted. An urban setting in Kuala Lumpur. 26 older people aged 60 and over were recruited from the control group of a related research project in Malaysia, in addition to older people known to the researchers. The HOME FAST was applied with the baseline survey for the MELoR study via a face-to-face interview and observation of the home by research staff. The majority of the participants were female, of Malay or Chinese ethnicity and living with others in a double-storeyed house. Falls were reported in the previous year by 19% and 80% of falls occurred at home. Gender and fear of falling had the strongest associations with home hazards. Most hazards were detected in the bathroom area. A small number of errors were detected in the HOME FAST ratings by researchers. The HOME FAST is feasible as a research and clinical tool for the Malaysian context and is appropriate for use in the MELoR study. Home hazards were prevalent in the homes of older people and further research with the larger MELoR sample is needed to confirm the validity of using the HOME FAST in Malaysia. Training in the use of the HOME FAST is needed to ensure accurate use by researchers. Published by the BMJ Publishing Group Limited. For permission to use (where not already granted under a licence) please go to http://www.bmj.com/company/products-services/rights-and-licensing/

  3. Phase-Division-Based Dynamic Optimization of Linkages for Drawing Servo Presses

    Science.gov (United States)

    Zhang, Zhi-Gang; Wang, Li-Ping; Cao, Yan-Ke

    2017-11-01

    Existing linkage-optimization methods are designed for mechanical presses; few can be directly used for servo presses, so development of the servo press is limited. Based on the complementarity of linkage optimization and motion planning, a phase-division-based linkage-optimization model for a drawing servo press is established. Considering the motion-planning principles of a drawing servo press, and taking account of work rating and efficiency, the constraints of the optimization model are constructed. Linkage is optimized in two modes: use of either constant eccentric speed or constant slide speed in the work segments. The performances of optimized linkages are compared with those of a mature linkage SL4-2000A, which is optimized by a traditional method. The results show that the work rating of a drawing servo press equipped with linkages optimized by this new method improved and the root-mean-square torque of the servo motors is reduced by more than 10%. This research provides a promising method for designing energy-saving drawing servo presses with high work ratings.

  4. Study of Pneumatic Servo Loading System in Double-Sided Polishing

    International Nuclear Information System (INIS)

    Qian, N; Ruan, J; Li, W

    2006-01-01

    The precise double-sided polishing process is one of the main methods to get the ultra-smooth surface of workpiece. In double-sided polishing machine, a loading system is required to be able to precisely control the load superimposed on the workpiece, while the polishing is being carried out. A pneumatic servo loading system is proposed for this purpose. In the pneumatic servo system, the servo valve, which acts both the electrical to mechanical converter and the power amplifier, has a substantial influence on the performance of the loading system. Therefore a specially designed pneumatic digital servo valve is applied in the control system. In this paper, the construction of the pneumatic servo loading system in double-sided polishing machine and control strategy associated with the digital servo valve are first addressed. The mathematical model of the system established and the hardware of the pneumatic servo system is designed. Finally, the experiments are carried out by measuring the practical load on the workpiece and the quality of the surface finish. It is demonstrated that the error rate of load is less than 5% and a super-smooth surface of silicon wafer with roughness Ra 0.401 nm can be obtained

  5. Servo Driven Corotation: Development of AN Inertial Clock.

    Science.gov (United States)

    Cheung, Wah-Kwan Stephen

    An inertial clock to test non-metricity of gravity is proposed here. A first, room-temperature, servo corotation -protected, double magnetically suspended precision rotor system is developed for this purpose. The specific goal was to exhibit the properties of such a clock in its entirety at whatever level of precision was achievable. A monolithic system has been completed for these preliminary studies. It includes particular development of individual experimental sub-systems (a hybrid double magnetic suspension; a diffusion pumping system; a microcomputer -controlled eddy-current drive system; and the angular period measuring schemes for the doubly suspended rotors). Double magnetic suspension had been investigated by Beams for other purposes. The upper transducer is optical but parametrized and the lower transducer employs the frequency modulation characteristic of a LC tank circuit. The doubly suspended rotors corotate so that the upper rotor is servoed to rotate at the same angular velocity as that of the lower rotor. This creates a "drag free" environment for the lower rotor and effectively eliminates the gas drag on the lower rotor. Consequently, the decay time constant of the lower rotor increases. With other means of protection, the lower rotor will then, with perfect system operation, suffer no drag and therefore become the inertial time keeper. A commercial microcomputer is introduced to execute the servo-corotation. The tests thus far are, with one exception, run at atmospheric pressure. An idealized analysis for open and closed loop corotation is shown. Such analysis includes only the viscous drag acting on the corotating rotors. The analysis suggests that angular position control be added to the present feedback drive which is of derivative nature only. Open and closed corotation runs show that a strong torsional coupling besides that of the gas drag exists between the rotors. When misalignment of the support pole pieces is deliberately made significant

  6. Verification and Validation of the New Dynamic Mooring Modules Available in FAST v8: Preprint

    Energy Technology Data Exchange (ETDEWEB)

    Wendt, Fabian; Robertson, Amy; Jonkman, Jason; Andersen, Morten T.

    2016-08-01

    The open-source aero-hydro-servo-elastic wind turbine simulation software, FAST v8, was recently coupled to two newly developed mooring dynamics modules: MoorDyn and FEAMooring. MoorDyn is a lumped-mass-based mooring dynamics module developed by the University of Maine, and FEAMooring is a finite-element-based mooring dynamics module developed by Texas A&M University. This paper summarizes the work performed to verify and validate these modules against other mooring models and measured test data to assess their reliability and accuracy. The quality of the fairlead load predictions by the open-source mooring modules MoorDyn and FEAMooring appear to be largely equivalent to what is predicted by the commercial tool OrcaFlex. Both mooring dynamic model predictions agree well with the experimental data, considering the given limitations in the accuracy of the platform hydrodynamic load calculation and the quality of the measurement data.

  7. A TSR Visual Servoing System Based on a Novel Dynamic Template Matching Method

    Directory of Open Access Journals (Sweden)

    Jia Cai

    2015-12-01

    Full Text Available The so-called Tethered Space Robot (TSR is a novel active space debris removal system. To solve its problem of non-cooperative target recognition during short-distance rendezvous events, this paper presents a framework for a real-time visual servoing system using non-calibrated monocular-CMOS (Complementary Metal Oxide Semiconductor. When a small template is used for matching with a large scene, it always leads to mismatches, so a novel template matching algorithm to solve the problem is presented. Firstly, the novel matching algorithm uses a hollow annulus structure according to a FAST (Features from Accelerated Segment algorithm and makes the method be rotation-invariant. Furthermore, the accumulative deviation can be decreased by the hollow structure. The matching function is composed of grey and gradient differences between template and object image, which help it reduce the effects of illumination and noises. Then, a dynamic template update strategy is designed to avoid tracking failures brought about by wrong matching or occlusion. Finally, the system synthesizes the least square integrated predictor, realizing tracking online in complex circumstances. The results of ground experiments show that the proposed algorithm can decrease the need for sophisticated computation and improves matching accuracy.

  8. [Development of a gait trainer with regulated servo-drive for rehabilitation of locomotor disabled patients].

    Science.gov (United States)

    Uhlenbrock, D; Sarkodie-Gyan, T; Reiter, F; Konrad, M; Hesse, S

    1997-01-01

    The aim of the present study was to develop a new gait trainer for the rehabilitation of non-ambulatory patients. For the simulation of the gait phase, we used a commercially available fitness trainer (Fast Track) with two foot plates moving in an alternating fashion and connected to a servo-controlled propulsion system providing the necessary support for the movement depending on the patient's impairment level. To compensate deficient equilibrium reflexes, the patient was suspended in a harness capable of supporting some of his/her weight. Video analysis of gait and the kinesiological EMG were used to assess the pattern of movement and the corresponding muscle activity, which were then evaluated in healthy subjects, spinal cord injured and stroke patients and compared with walking on the flat or on a treadmill. Walking on the gait trainer was characterised by a symmetrical, sinusoidal movement of lower amplitude than in normal gait. The EMG showed a low activity of the tibialis anterior muscle, while the antigravity muscles were clearly activated by the gait trainer during the stance phase. In summary, the new gait trainer generates a symmetrical gait-like movement, promoting weight acceptance in the stance phase, which is important for the restoration of walking ability.

  9. HAWC2 and BeamDyn: Comparison Between Beam Structural Models for Aero-Servo-Elastic Frameworks: Preprint

    Energy Technology Data Exchange (ETDEWEB)

    Pavese, Christian; Kim, Taeseong; Wang, Qi; Jonkman, Jason; Sprague, Michael A.

    2016-08-01

    This work presents a comparison of two beam codes for aero-servo-elastic frameworks: a new structural model for the aeroelastic code HAWC2 and a new nonlinear beam model, BeamDyn, for the aeroelastic modularization framework FAST v8. The main goal is to establish the suitability of the two approaches to model the structural behaviour of modern wind turbine blades in operation. Through a series of benchmarking structural cases of increasing complexity, the capability of the two codes to simulate highly nonlinear effects is investigated and analyzed. Results show that even though the geometrically exact beam theory can better model effects such as very large deflections, rotations, and structural couplings, an approach based on a multi-body formulation assembled through linear elements is capable of computing accurate solutions for typical nonlinear beam theory benchmarking cases.

  10. Conceptual design of stepper motor replacing servo motor for control rod controller

    International Nuclear Information System (INIS)

    Mohd Dzul Aiman Aslan; Mohd Idris Taib; Izhar Abu Hussin; Mohd Khairulezwan Abdul Manan; Mohd Sabri Minhat

    2010-01-01

    In PUSPATI TRIGA Reactor, current control rod controller are using servo motor to control the movement. Control rod is a very important safety element and measure in every nuclear reactor. So, precision is very important in measurement of security in the nuclear reactor. In this case, there are a few disadvantages when using the servo motor is measurement of the motor is not precise. One solution to overcome this is by shifting servo motor with stepper motor. A stepper motor (or step motor) is a brush less, synchronous electric motor that can divide a full rotation into a large number of steps. (author)

  11. Fuzzy model-based servo and model following control for nonlinear systems.

    Science.gov (United States)

    Ohtake, Hiroshi; Tanaka, Kazuo; Wang, Hua O

    2009-12-01

    This correspondence presents servo and nonlinear model following controls for a class of nonlinear systems using the Takagi-Sugeno fuzzy model-based control approach. First, the construction method of the augmented fuzzy system for continuous-time nonlinear systems is proposed by differentiating the original nonlinear system. Second, the dynamic fuzzy servo controller and the dynamic fuzzy model following controller, which can make outputs of the nonlinear system converge to target points and to outputs of the reference system, respectively, are introduced. Finally, the servo and model following controller design conditions are given in terms of linear matrix inequalities. Design examples illustrate the utility of this approach.

  12. All Digital IQ Servo-System for CERN Linacs

    CERN Document Server

    Rohlev, A; Garoby, R

    2003-01-01

    A new VME based system has been developed and built at CERN for the servo loops regulating the field in the linac accelerating structure. It makes use of high speed digital In-phase/Quadrature (IQ) detection, digital processing, and digital IQ modulation. The digital processing and IQ modulation is done in a single PLD. The system incorporates continually variable set points, iterative learning, feed forward as well as extensive diagnostics and other features well suited for digital implementations. Built on a single VME card, it will be first used in the energy ramping RF chain of the CERN Heavy Ion Linac (linac 3) and later for upgrading the present proton linac (linac 2). This system serves also as a prototype for the future Superconducting Proton Linac (SPL). The design principle and the experimental results are described.

  13. Visual servo simulation of EAST articulated maintenance arm robot

    Energy Technology Data Exchange (ETDEWEB)

    Yang, Yang, E-mail: yangyang@ipp.ac.cn [Institute of Plasma Physics, Chinese Academy of Sciences, 350 Shushanhu Rd, Hefei, Anhui (China); Song, Yuntao; Pan, Hongtao; Cheng, Yong; Feng, Hansheng [Institute of Plasma Physics, Chinese Academy of Sciences, 350 Shushanhu Rd, Hefei, Anhui (China); Wu, Huapeng [Lappeenranta University of Technology, Skinnarilankatu 34, Lappeenranta (Finland)

    2016-03-15

    For the inspection and light-duty maintenance of the vacuum vessel in the EAST tokamak, a serial robot arm, called EAST articulated maintenance arm, is developed. Due to the 9-m-long cantilever arm, the large flexibility of the EAMA robot introduces a problem in the accurate positioning. This article presents an autonomous robot control to cope with the robot positioning problem, which is a visual servo approach in context of tile grasping for the EAMA robot. In the experiments, the proposed method was implemented in a simulation environment to position and track a target graphite tile with the EAMA robot. As a result, the proposed visual control scheme can successfully drive the EAMA robot to approach and track the target tile until the robot reaches the desired position. Furthermore, the functionality of the simulation software presented in this paper is proved to be suitable for the development of the robotic and computer vision application.

  14. Visual servo simulation of EAST articulated maintenance arm robot

    International Nuclear Information System (INIS)

    Yang, Yang; Song, Yuntao; Pan, Hongtao; Cheng, Yong; Feng, Hansheng; Wu, Huapeng

    2016-01-01

    For the inspection and light-duty maintenance of the vacuum vessel in the EAST tokamak, a serial robot arm, called EAST articulated maintenance arm, is developed. Due to the 9-m-long cantilever arm, the large flexibility of the EAMA robot introduces a problem in the accurate positioning. This article presents an autonomous robot control to cope with the robot positioning problem, which is a visual servo approach in context of tile grasping for the EAMA robot. In the experiments, the proposed method was implemented in a simulation environment to position and track a target graphite tile with the EAMA robot. As a result, the proposed visual control scheme can successfully drive the EAMA robot to approach and track the target tile until the robot reaches the desired position. Furthermore, the functionality of the simulation software presented in this paper is proved to be suitable for the development of the robotic and computer vision application.

  15. Velocity control of servo systems using an integral retarded algorithm.

    Science.gov (United States)

    Ramírez, Adrián; Garrido, Rubén; Mondié, Sabine

    2015-09-01

    This paper presents a design technique for the delay-based controller called Integral Retarded (IR), and its applications to velocity control of servo systems. Using spectral analysis, the technique yields a tuning strategy for the IR by assigning a triple real dominant root for the closed-loop system. This result ultimately guarantees a desired exponential decay rate σ(d) while achieving the IR tuning as explicit function of σ(d) and system parameters. The intentional introduction of delay allows using noisy velocity measurements without additional filtering. The structure of the controller is also able to avoid velocity measurements by using instead position information. The IR is compared to a classical PI, both tested in a laboratory prototype. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  16. Myoelectric hand prosthesis force control through servo motor current feedback.

    Science.gov (United States)

    Sono, Tálita Saemi Payossim; Menegaldo, Luciano Luporini

    2009-10-01

    This paper presents the prehension force closed-loop control design of a mechanical finger commanded by electromyographic signal (EMG) from a patient's arm. The control scheme was implemented and tested in a mechanical finger prototype with three degrees of freedom and one actuator, driven by arm muscles EMG of normal volunteers. Real-time indirect estimation of prehension force was assessed by measuring the DC servo motor actuator current. A model of the plant comprising finger, motor, and grasped object was proposed. Model parameters were identified experimentally and a classical feedback phase-lead compensator was designed. The controlled mechanical finger was able to provide a more accurate prehension force modulation of a compliant object when compared to open-loop control.

  17. Adaptive integral robust control and application to electromechanical servo systems.

    Science.gov (United States)

    Deng, Wenxiang; Yao, Jianyong

    2017-03-01

    This paper proposes a continuous adaptive integral robust control with robust integral of the sign of the error (RISE) feedback for a class of uncertain nonlinear systems, in which the RISE feedback gain is adapted online to ensure the robustness against disturbances without the prior bound knowledge of the additive disturbances. In addition, an adaptive compensation integrated with the proposed adaptive RISE feedback term is also constructed to further reduce design conservatism when the system also exists parametric uncertainties. Lyapunov analysis reveals the proposed controllers could guarantee the tracking errors are asymptotically converging to zero with continuous control efforts. To illustrate the high performance nature of the developed controllers, numerical simulations are provided. At the end, an application case of an actual electromechanical servo system driven by motor is also studied, with some specific design consideration, and comparative experimental results are obtained to verify the effectiveness of the proposed controllers. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  18. Nonlinear control for a class of hydraulic servo system.

    Science.gov (United States)

    Yu, Hong; Feng, Zheng-jin; Wang, Xu-yong

    2004-11-01

    The dynamics of hydraulic systems are highly nonlinear and the system may be subjected to non-smooth and discontinuous nonlinearities due to directional change of valve opening, friction, etc. Aside from the nonlinear nature of hydraulic dynamics, hydraulic servo systems also have large extent of model uncertainties. To address these challenging issues, a robust state-feedback controller is designed by employing backstepping design technique such that the system output tracks a given signal arbitrarily well, and all signals in the closed-loop system remain bounded. Moreover, a relevant disturbance attenuation inequality is satisfied by the closed-loop signals. Compared with previously proposed robust controllers, this paper's robust controller based on backstepping recursive design method is easier to design, and is more suitable for implementation.

  19. Study on Characteristics of Hydraulic Servo System for Force Control of Hydraulic Robots

    International Nuclear Information System (INIS)

    Kim, Hyo-gon; Han, Changsoo; Lee, Jong-won; Park, Sangdeok

    2015-01-01

    Because a hydraulic actuator has high power and force densities, this allows the weight of the robot's limbs to be reduced. This allows for good dynamic characteristics and high energy efficiency. Thus, hydraulic actuators are used in some exoskeleton robots and quadrupedal robots that require high torque. Force control is useful for robot compliance with a user or environment. However, force control of a hydraulic robot is difficult because a hydraulic servo system is highly nonlinear from a control perspective. In this study, a nonlinear model was used to develop a simulation program for a hydraulic servo system consisting of a servo valve, transmission lines, and a cylinder. The problems and considerations with regard to the force control performance for a hydraulic servo system were investigated. A force control method using the nonlinear model was proposed, and its effect was evaluated with the simulation program

  20. Study on Characteristics of Hydraulic Servo System for Force Control of Hydraulic Robots

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Hyo-gon; Han, Changsoo [Hanyang University, Seoul (Korea, Republic of); Lee, Jong-won [Korea University of Science and Technology, Seoul (Korea, Republic of); Park, Sangdeok [Korea Institute of Industrial Technology, Seoul (Korea, Republic of)

    2015-02-15

    Because a hydraulic actuator has high power and force densities, this allows the weight of the robot's limbs to be reduced. This allows for good dynamic characteristics and high energy efficiency. Thus, hydraulic actuators are used in some exoskeleton robots and quadrupedal robots that require high torque. Force control is useful for robot compliance with a user or environment. However, force control of a hydraulic robot is difficult because a hydraulic servo system is highly nonlinear from a control perspective. In this study, a nonlinear model was used to develop a simulation program for a hydraulic servo system consisting of a servo valve, transmission lines, and a cylinder. The problems and considerations with regard to the force control performance for a hydraulic servo system were investigated. A force control method using the nonlinear model was proposed, and its effect was evaluated with the simulation program.

  1. Autonomous docking control of visual-servo type underwater vehicle system aiming at underwater automatic charging

    International Nuclear Information System (INIS)

    Yanou, Akira; Ohnishi, Shota; Ishiyama, Shintaro; Minami, Mamoru

    2015-01-01

    A visual-servo type remotely operated vehicle (ROV) system with binocular wide-angle lens was developed to survey submarine resources, decontaminate radiation from mud in dam lake and so on. This paper explores the experiments on regulator performance and underwater docking of the robot system utilizing Genetic Algorithm (GA) for real-time recognition of the robot's relative position and posture through 3D marker. The visual servoing performances have been verified as follows; (1) The stability performances of the proposed regulator system have been evaluated by exerting abrupt distrubane force while the ROV is controlled by visual servoing. (2) The proposed system can track time-variant desired target position in x-axis (front-back direction of the robot). (3) The underwater docking can be completed by switching visual servoing and docking modes based on the error threshold, and by giving time-varying desired target position and orientation to the controller as a desired pose. (author)

  2. Permanent magnet synchronous motor servo system control based on μC/OS

    Science.gov (United States)

    Shi, Chongyang; Chen, Kele; Chen, Xinglong

    2015-10-01

    When Opto-Electronic Tracking system operates in complex environments, every subsystem must operate efficiently and stably. As a important part of Opto-Electronic Tracking system, the performance of PMSM(Permanent Magnet Synchronous Motor) servo system affects the Opto-Electronic Tracking system's accuracy and speed greatly[1][2]. This paper applied embedded real-time operating system μC/OS to the control of PMSM servo system, implemented SVPWM(Space Vector Pulse Width Modulation) algorithm in PMSM servo system, optimized the stability of PMSM servo system. Pointing on the characteristics of the Opto-Electronic Tracking system, this paper expanded μC/OS with software redundancy processes, remote debugging and upgrading. As a result, the Opto- Electronic Tracking system performs efficiently and stably.

  3. Mathematical-model study of servo system with pulse-duration control of micromovements

    International Nuclear Information System (INIS)

    Dement'eva, M.A.; Leonov, A.P.; Popov, V.V.; Skugarevskii, A.I.; Ustinov, E.A.; Chernyavskii, N.N.

    1988-01-01

    A number of digital servo systems with pulse-duration control have been developed at the Institute of High Energy Physics for the instruments of the scanning and measurement system and various experimental setups. They are based on stock transistor bridge stages, whose loads are high-speed servomotors with printed-circuit armature windings. Study of these servo systems by traditional methods, which are based on Laplace transforms, or by mean values with expansion of the current pulse into a Fourier transform yields approximate results and does not reflect the actual processes that take place in a pulse servo system. They attempt to develop a method and extend it to the study of high-speed servo systems in the area of micromovements and quasistationary velocity without position or velocity feedback

  4. Servo-Drive Amplifier for Micro-Satellite Superconductor-Levitated Flywheels, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — A new servo-drive technology is available to support energy storage and navigation for micro-satellites. Exploiting the ?pinning? effect of high-temperature...

  5. Piloted Simulator Investigation of Techniques to Achieve Attitude Command Response with Limited Authority Servos

    National Research Council Canada - National Science Library

    Key, David

    2002-01-01

    The purpose of the study was to develop generic design principles for obtaining attitude command response in moderate to aggressive maneuvers without increasing SCAS series servo authority from the existing +/- 10...

  6. Visual Servo Tracking Control of a Wheeled Mobile Robot with a Monocular Fixed Camera

    National Research Council Canada - National Science Library

    Chen, J; Dixon, W. E; Dawson, D. M; Chitrakaran, V. K

    2004-01-01

    In this paper, a visual servo tracking controller for a wheeled mobile robot (WMR) is developed that utilizes feedback from a monocular camera system that is mounted with a fixed position and orientation...

  7. Preterm infant thermal care: differing thermal environments produced by air versus skin servo-control incubators.

    Science.gov (United States)

    Thomas, K A; Burr, R

    1999-06-01

    Incubator thermal environments produced by skin versus air servo-control were compared. Infant abdominal skin and incubator air temperatures were recorded from 18 infants in skin servo-control and 14 infants in air servo-control (26- to 29-week gestational age, 14 +/- 2 days postnatal age) for 24 hours. Differences in incubator and infant temperature, neutral thermal environment (NTE) maintenance, and infant and incubator circadian rhythm were examined using analysis of variance and scatterplots. Skin servo-control resulted in more variable air temperature, yet more stable infant temperature, and more time within the NTE. Circadian rhythm of both infant and incubator temperature differed by control mode and the relationship between incubator and infant temperature rhythms was a function of control mode. The differences between incubator control modes extend beyond temperature stability and maintenance of NTE. Circadian rhythm of incubator and infant temperatures is influenced by incubator control.

  8. Investigation of the low flux servo-controlled limit of a co-phased interferometer

    Science.gov (United States)

    Damé, Luc; Derrien, Marc; Kozlowski, Mathias; Merdjane, Mohamed

    2018-04-01

    This paper, "Investigation of the low flux servo-controlled limit of a co-phased interferometer," was presented as part of International Conference on Space Optics—ICSO 1997, held in Toulouse, France.

  9. A deterministic - approach controller design for electrohydraulic position servo control system

    International Nuclear Information System (INIS)

    Johari Osman

    2000-01-01

    This paper is concerned with the design of a tracking controller for controlling electrohydraulic position servo system based on a deterministic approach. The system is treated as an uncertain system with bounded uncertainties where the bounds are assumed known. It will be shown that the electrohydraulic position servo systems with the proposed controller is practically stable and tracks the desired position in spite of the uncertainties and nonlinearities present in the system (author)

  10. Adaptive fuzzy PID control of hydraulic servo control system for large axial flow compressor

    Science.gov (United States)

    Wang, Yannian; Wu, Peizhi; Liu, Chengtao

    2017-09-01

    To improve the stability of the large axial compressor, an efficient and special intelligent hydraulic servo control system is designed and implemented. The adaptive fuzzy PID control algorithm is used to control the position of the hydraulic servo cylinder steadily, which overcomes the drawback that the PID parameters should be adjusted based on the different applications. The simulation and the test results show that the system has a better dynamic property and a stable state performance.

  11. Fast electron and X-ray scattering as a tool to study target's structure

    Energy Technology Data Exchange (ETDEWEB)

    Amusia, M.Ya. [Racah Institute of Physics, Hebrew University, Jerusalem 91904 (Israel); A.F. Ioffe Physical-Technical Institute, St. Petersburg 194021 (Russian Federation)], E-mail: amusia@vms.huji.ac.il

    2007-06-15

    We concentrate on several relatively new aspects of the study of fast electron and X-ray scattering by atoms and atom-like objects, namely endohedral atoms and fullerenes. However, main attention is given to fast charge particle scattering. We show that the corresponding cross-sections, being expressed via so-called generalized oscillator strengths (GOS), give information on the electronic structure of the target and on the role of electron correlations in it. We consider what sort of information became available when analyzing the dependence of GOS upon their multipolarity, transferred momentum q and energy {omega}. To obtain theoretical results, we employ both the one-electron Hartree-Fock approximation and account for the multi-electron correlation in the target, using the random phase approximation with exchange. We demonstrate the role of non-dipole corrections in the small-angle fast-electron inelastic scattering. There dipole contribution dominates while non-dipole corrections can be considerably and controllably enhanced as compared to the case of low and medium energy photoionization. We show also that analyses of GOS for discrete level excitations permit to clarify their multipolarity. The results of calculations of Compton excitation and ionization cross-sections are presented. Attention is given to cooperative effects in inelastic fast electron-atom scattering that results in directed motion of the secondary electrons, a phenomenon that is similar to 'drag currents' in photoionization. We demonstrate how one should derive GOS for endohedral atoms, e.g. A-C{sub 60} and what is the additional information that can be obtained from corresponding GOS. Most of discussions are illustrated by the results of concrete calculations.

  12. CLFs-based optimization control for a class of constrained visual servoing systems.

    Science.gov (United States)

    Song, Xiulan; Miaomiao, Fu

    2017-03-01

    In this paper, we use the control Lyapunov function (CLF) technique to present an optimized visual servo control method for constrained eye-in-hand robot visual servoing systems. With the knowledge of camera intrinsic parameters and depth of target changes, visual servo control laws (i.e. translation speed) with adjustable parameters are derived by image point features and some known CLF of the visual servoing system. The Fibonacci method is employed to online compute the optimal value of those adjustable parameters, which yields an optimized control law to satisfy constraints of the visual servoing system. The Lyapunov's theorem and the properties of CLF are used to establish stability of the constrained visual servoing system in the closed-loop with the optimized control law. One merit of the presented method is that there is no requirement of online calculating the pseudo-inverse of the image Jacobian's matrix and the homography matrix. Simulation and experimental results illustrated the effectiveness of the method proposed here. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  13. Servo-controlled hind-limb electrical stimulation for short-term arterial pressure control.

    Science.gov (United States)

    Kawada, Toru; Shimizu, Shuji; Yamamoto, Hiromi; Shishido, Toshiaki; Kamiya, Atsunori; Miyamoto, Tadayoshi; Sunagawa, Kenji; Sugimachi, Masaru

    2009-05-01

    Autonomic neural intervention is a promising tool for modulating the circulatory system thereby treating some cardiovascular diseases. In 8 pentobarbital-anesthetized cats, it was examined whether the arterial pressure (AP) could be controlled by acupuncture-like hind-limb electrical stimulation (HES). With a 0.5-ms pulse width, HES monotonically reduced AP as the stimulus current increased from 1 to 5 mA, suggesting that the stimulus current could be a primary control variable. In contrast, the depressor effect of HES showed a nadir approximately 10 Hz in the frequency range between 1 and 100 Hz. Dynamic characteristics of the AP response to HES approximated a second-order low-pass filter with dead time (gain: -10.2 +/- 1.6 mmHg/mA, natural frequency: 0.040 +/- 0.004 Hz, damping ratio 1.80 +/- 0.24, dead time: 1.38 +/- 0.13 s, mean +/- SE). Based on these dynamic characteristics, a servo-controlled HES system was developed. When a target AP value was set at 20 mmHg below the baseline AP, the time required for the AP response to reach 90% of the target level was 38 +/- 10 s. The steady-state error between the measured and target AP values was 1.3 +/- 0.1 mmHg. Autonomic neural intervention by acupuncture-like HES might provide an additional modality to quantitatively control the circulatory system.

  14. Towards an Aero-Propulso-Servo-Elasticity Analysis of a Commercial Supersonic Transport

    Science.gov (United States)

    Connolly, Joseph W.; Kopasakis, George; Chwalowski, Pawel; Sanetrik, Mark D.; Carlson, Jan-Renee; Silva, Walt A.; McNamara, Jack

    2016-01-01

    This paper covers the development of an aero-propulso-servo-elastic (APSE) model using computational fluid dynamics (CFD) and linear structural deformations. The APSE model provides the integration of the following two previously developed nonlinear dynamic simulations: a variable cycle turbofan engine and an elastic supersonic commercial transport vehicle. The primary focus of this study is to provide a means to include relevant dynamics of a turbomachinery propulsion system into the aeroelastic studies conducted during a vehicle design, which have historically neglected propulsion effects. A high fidelity CFD tool is used here for the integration platform. The elastic vehicle neglecting the propulsion system serves as a comparison of traditional approaches to the APSE results. An overview of the methodology is presented for integrating the propulsion system and elastic vehicle. Static aeroelastic analysis comparisons between the traditional and developed APSE models for a wing tip detection indicate that the propulsion system impact on the vehicle elastic response could increase the detection by approximately ten percent.

  15. Virus-Clip: a fast and memory-efficient viral integration site detection tool at single-base resolution with annotation capability.

    Science.gov (United States)

    Ho, Daniel W H; Sze, Karen M F; Ng, Irene O L

    2015-08-28

    Viral integration into the human genome upon infection is an important risk factor for various human malignancies. We developed viral integration site detection tool called Virus-Clip, which makes use of information extracted from soft-clipped sequencing reads to identify exact positions of human and virus breakpoints of integration events. With initial read alignment to virus reference genome and streamlined procedures, Virus-Clip delivers a simple, fast and memory-efficient solution to viral integration site detection. Moreover, it can also automatically annotate the integration events with the corresponding affected human genes. Virus-Clip has been verified using whole-transcriptome sequencing data and its detection was validated to have satisfactory sensitivity and specificity. Marked advancement in performance was detected, compared to existing tools. It is applicable to versatile types of data including whole-genome sequencing, whole-transcriptome sequencing, and targeted sequencing. Virus-Clip is available at http://web.hku.hk/~dwhho/Virus-Clip.zip.

  16. FQC Dashboard: integrates FastQC results into a web-based, interactive, and extensible FASTQ quality control tool.

    Science.gov (United States)

    Brown, Joseph; Pirrung, Meg; McCue, Lee Ann

    2017-06-09

    FQC is software that facilitates quality control of FASTQ files by carrying out a QC protocol using FastQC, parsing results, and aggregating quality metrics into an interactive dashboard designed to richly summarize individual sequencing runs. The dashboard groups samples in dropdowns for navigation among the data sets, utilizes human-readable configuration files to manipulate the pages and tabs, and is extensible with CSV data. FQC is implemented in Python 3 and Javascript, and is maintained under an MIT license. Documentation and source code is available at: https://github.com/pnnl/fqc . joseph.brown@pnnl.gov. © The Author(s) 2017. Published by Oxford University Press.

  17. MIDAS-FAST: Design and Validation of a Model-Based Tool to Predict Operator Performance with Robotic Arm Automation

    Science.gov (United States)

    Sebok, Angelia (Principal Investigator); Wickens, Christopher; Gacy, Marc; Brehon, Mark; Scott-Nash, Shelly; Sarter, Nadine; Li, Huiyang; Gore, Brian; Hooey, Becky

    2017-01-01

    The Coalition for Aerospace and Science (CAS) is hosting an exhibition on Capitol Hill on June 14, 2017, to highlight the contributions of CAS members to NASAs portfolio of activities. This exhibition represents an opportunity for an HFES members ground breaking work to be displayed and to build on support within Congress for NASAs human research program including in those areas that are of specific interest to the HFE community. The intent of this poster presentation is to demonstrate the positive outcome that comes from funding HFE related research on a project like the one exemplified by MIDAS-FAST.

  18. Method of producing an item with enhanced wetting properties by fast replication and replication tool used in the method

    DEFF Research Database (Denmark)

    2016-01-01

    , 2b) comprises a microscale structured master surface (3a, 3b, 3c) having a lateral master pattern and a vertical master profile. The microscale structured master surface (3a, 3b, 3c) has been provided by localized pulsed laser treatment to generate microscale phase explosions. A method of producing...... an item with enhanced wetting properties uses the replication tool (1) to form an item (4) with a general shape as defined by the tool surface. The formed item (4) comprises a microscale textured replica surface (5a, 5b, 5c) with a lateral arrangement of polydisperse microscale protrusions....

  19. Evaluation of JRC source term methodology using MAAP5 as a fast-running crisis tool for a BWR4 Mark I reactor

    International Nuclear Information System (INIS)

    Vela-García, M.; Simola, K.

    2016-01-01

    JRC participated in the OECD/NEA FASTRUN benchmark reviewing fast-running software tools to model fission product releases during accidents at nuclear power plants. The main goal of fast-running software tools is to foresee the accident progression, so that mitigating actions can be taken and the population can be adequately protected. Within the FASTRUN, JRC used the MAAP 4.0.8 code and developed a methodology to obtain the source term (as activity released per radioisotope) of PWR and BWR station black-out accident scenarios. The modifications made in the MAAP models were limited to a minimum number of important parameters. This aims at reproducing a crisis situation with a limited time to adapt a generic input deck. This paper presents further studies, where JRC analysed the FASTRUN BWR scenario using MAAP 5.0.2 that has the capability of calculating doses. A sensitivity study was performed with the MAAP 5.0.2 DOSE package deactivated, using the same methodology as in the case of MAAP 4.0.8 for source term calculation. The results were close to the reference LTSBO SOARCA case, independently of the methodology used. One of the benefits of using the MAAP code is the short runtime of the simulations.

  20. Panoramic optical-servoing for industrial inspection and repair

    Science.gov (United States)

    Sallinger, Christian; O'Leary, Paul; Retschnig, Alexander; Kammerhofer, Martin

    2004-05-01

    Recently specialized robots were introduced to perform the task of inspection and repair in large cylindrical structures such as ladles, melting furnaces and converters. This paper reports on the image processing system and optical servoing for one such a robot. A panoramic image of the vessels inner surface is produced by performing a coordinated robot motion and image acquisition. The level of projective distortion is minimized by acquiring a high density of images. Normalized phase correlation calculated via the 2D Fourier transform is used to calculate the shift between the single images. The narrow strips from the dense image map are then stitched together to build the panorama. The mapping between the panoramic image and the positioning of the robot is established during the stitching of the images. This enables optical feedback. The robots operator can locate a defect on the surface by selecting the area of the image. Calculation of the forward and inverse kinematics enable the robot to automatically move to the location on the surface requiring repair. Experimental results using a standard 6R industrial robot have shown the full functionality of the system concept. Finally, were test measurements carried out successfully, in a ladle at a temperature of 1100° C.

  1. Cylinder Position Servo Control Based on Fuzzy PID

    Directory of Open Access Journals (Sweden)

    Shibo Cai

    2013-01-01

    Full Text Available The arbitrary position control of cylinder has always been the hard challenge in pneumatic system. We try to develop a cylinder position servo control method by combining fuzzy PID with the theoretical model of the proportional valve-controlled cylinder system. The pressure differential equation of cylinder, pressure-flow equation of proportional valve, and moment equilibrium equation of cylinder are established. And the mathematical models of the cylinder driving system are linearized. Then fuzzy PID control algorithm is designed for the cylinder position control, including the detail analysis of fuzzy variables and domain, fuzzy logic rules, and defuzzification. The stability of the proposed fuzzy PID controller is theoretically proved according to the small gain theorem. Experiments for targets position of 250 mm, 300 mm, and 350 mm were done and the results showed that the absolute error of the position control is less than 0.25 mm. And comparative experiment between fuzzy PID and classical PID verified the advantage of the proposed algorithm.

  2. Sinusoidal visuomotor tracking: intermittent servo-control or coupled oscillations?

    Science.gov (United States)

    Russell, D M; Sternad, D

    2001-12-01

    In visuomotor tasks that involve accuracy demands, small directional changes in the trajectories have been taken as evidence of feedback-based error corrections. In the present study variability, or intermittency, in visuomanual tracking of sinusoidal targets was investigated. Two lines of analyses were pursued: First, the hypothesis that humans fundamentally act as intermittent servo-controllers was re-examined, probing the question of whether discontinuities in the movement trajectory directly imply intermittent control. Second, an alternative hypothesis was evaluated: that rhythmic tracking movements are generated by entrainment between the oscillations of the target and the actor, such that intermittency expresses the degree of stability. In 2 experiments, participants (N = 6 in each experiment) swung 1 of 2 different hand-held pendulums, tracking a rhythmic target that oscillated at different frequencies with a constant amplitude. In 1 line of analyses, the authors tested the intermittency hypothesis by using the typical kinematic error measures and spectral analysis. In a 2nd line, they examined relative phase and its variability, following analyses of rhythmic interlimb coordination. The results showed that visually guided corrective processes play a role, especially for slow movements. Intermittency, assessed as frequency and power components of the movement trajectory, was found to change as a function of both target frequency and the manipulandum's inertia. Support for entrainment was found in conditions in which task frequency was identical to or higher than the effector's eigenfrequency. The results suggest that it is the symmetry between task and effector that determines which behavioral regime is dominant.

  3. Matching synchrosqueezing transform: A useful tool for characterizing signals with fast varying instantaneous frequency and application to machine fault diagnosis

    Science.gov (United States)

    Wang, Shibin; Chen, Xuefeng; Selesnick, Ivan W.; Guo, Yanjie; Tong, Chaowei; Zhang, Xingwu

    2018-02-01

    Synchrosqueezing transform (SST) can effectively improve the readability of the time-frequency (TF) representation (TFR) of nonstationary signals composed of multiple components with slow varying instantaneous frequency (IF). However, for signals composed of multiple components with fast varying IF, SST still suffers from TF blurs. In this paper, we introduce a time-frequency analysis (TFA) method called matching synchrosqueezing transform (MSST) that achieves a highly concentrated TF representation comparable to the standard TF reassignment methods (STFRM), even for signals with fast varying IF, and furthermore, MSST retains the reconstruction benefit of SST. MSST captures the philosophy of STFRM to simultaneously consider time and frequency variables, and incorporates three estimators (i.e., the IF estimator, the group delay estimator, and a chirp-rate estimator) into a comprehensive and accurate IF estimator. In this paper, we first introduce the motivation of MSST with three heuristic examples. Then we introduce a precise mathematical definition of a class of chirp-like intrinsic-mode-type functions that locally can be viewed as a sum of a reasonably small number of approximate chirp signals, and we prove that MSST does indeed succeed in estimating chirp-rate and IF of arbitrary functions in this class and succeed in decomposing these functions. Furthermore, we describe an efficient numerical algorithm for the practical implementation of the MSST, and we provide an adaptive IF extraction method for MSST reconstruction. Finally, we verify the effectiveness of the MSST in practical applications for machine fault diagnosis, including gearbox fault diagnosis for a wind turbine in variable speed conditions and rotor rub-impact fault diagnosis for a dual-rotor turbofan engine.

  4. Fast-NPS-A Markov Chain Monte Carlo-based analysis tool to obtain structural information from single-molecule FRET measurements

    Science.gov (United States)

    Eilert, Tobias; Beckers, Maximilian; Drechsler, Florian; Michaelis, Jens

    2017-10-01

    The analysis tool and software package Fast-NPS can be used to analyse smFRET data to obtain quantitative structural information about macromolecules in their natural environment. In the algorithm a Bayesian model gives rise to a multivariate probability distribution describing the uncertainty of the structure determination. Since Fast-NPS aims to be an easy-to-use general-purpose analysis tool for a large variety of smFRET networks, we established an MCMC based sampling engine that approximates the target distribution and requires no parameter specification by the user at all. For an efficient local exploration we automatically adapt the multivariate proposal kernel according to the shape of the target distribution. In order to handle multimodality, the sampler is equipped with a parallel tempering scheme that is fully adaptive with respect to temperature spacing and number of chains. Since the molecular surrounding of a dye molecule affects its spatial mobility and thus the smFRET efficiency, we introduce dye models which can be selected for every dye molecule individually. These models allow the user to represent the smFRET network in great detail leading to an increased localisation precision. Finally, a tool to validate the chosen model combination is provided. Programme Files doi:http://dx.doi.org/10.17632/7ztzj63r68.1 Licencing provisions: Apache-2.0 Programming language: GUI in MATLAB (The MathWorks) and the core sampling engine in C++ Nature of problem: Sampling of highly diverse multivariate probability distributions in order to solve for macromolecular structures from smFRET data. Solution method: MCMC algorithm with fully adaptive proposal kernel and parallel tempering scheme.

  5. Introduction on Using the FastPCR Software and the Related Java Web Tools for PCR and Oligonucleotide Assembly and Analysis.

    Science.gov (United States)

    Kalendar, Ruslan; Tselykh, Timofey V; Khassenov, Bekbolat; Ramanculov, Erlan M

    2017-01-01

    This chapter introduces the FastPCR software as an integrated tool environment for PCR primer and probe design, which predicts properties of oligonucleotides based on experimental studies of the PCR efficiency. The software provides comprehensive facilities for designing primers for most PCR applications and their combinations. These include the standard PCR as well as the multiplex, long-distance, inverse, real-time, group-specific, unique, overlap extension PCR for multi-fragments assembling cloning and loop-mediated isothermal amplification (LAMP). It also contains a built-in program to design oligonucleotide sets both for long sequence assembly by ligase chain reaction and for design of amplicons that tile across a region(s) of interest. The software calculates the melting temperature for the standard and degenerate oligonucleotides including locked nucleic acid (LNA) and other modifications. It also provides analyses for a set of primers with the prediction of oligonucleotide properties, dimer and G/C-quadruplex detection, linguistic complexity as well as a primer dilution and resuspension calculator. The program consists of various bioinformatical tools for analysis of sequences with the GC or AT skew, CG% and GA% content, and the purine-pyrimidine skew. It also analyzes the linguistic sequence complexity and performs generation of random DNA sequence as well as restriction endonucleases analysis. The program allows to find or create restriction enzyme recognition sites for coding sequences and supports the clustering of sequences. It performs efficient and complete detection of various repeat types with visual display. The FastPCR software allows the sequence file batch processing that is essential for automation. The program is available for download at http://primerdigital.com/fastpcr.html , and its online version is located at http://primerdigital.com/tools/pcr.html .

  6. Fast and simple tool for the quantification of biofilm-embedded cells sub-populations from fluorescent microscopic images.

    Directory of Open Access Journals (Sweden)

    Mikhail I Bogachev

    Full Text Available Fluorescent staining is a common tool for both quantitative and qualitative assessment of pro- and eukaryotic cells sub-population fractions by using microscopy and flow cytometry. However, direct cell counting by flow cytometry is often limited, for example when working with cells rigidly adhered either to each other or to external surfaces like bacterial biofilms or adherent cell lines and tissue samples. An alternative approach is provided by using fluorescent microscopy and confocal laser scanning microscopy (CLSM, which enables the evaluation of fractions of cells subpopulations in a given sample. For the quantitative assessment of cell fractions in microphotographs, we suggest a simple two-step algorithm that combines single cells selection and the statistical analysis. To facilitate the first step, we suggest a simple procedure that supports finding the balance between the detection threshold and the typical size of single cells based on objective cell size distribution analysis. Based on a series of experimental measurements performed on bacterial and eukaryotic cells under various conditions, we show explicitly that the suggested approach effectively accounts for the fractions of different cell sub-populations (like the live/dead staining in our samples in all studied cases that are in good agreement with manual cell counting on microphotographs and flow cytometry data. This algorithm is implemented as a simple software tool that includes an intuitive and user-friendly graphical interface for the initial adjustment of algorithm parameters to the microphotographs analysis as well as for the sequential analysis of homogeneous series of similar microscopic images without further user intervention. The software tool entitled BioFilmAnalyzer is freely available online at https://bitbucket.org/rogex/biofilmanalyzer/downloads/.

  7. Model-based nonlinear control of hydraulic servo systems: Challenges, developments and perspectives

    Science.gov (United States)

    Yao, Jianyong

    2018-06-01

    Hydraulic servo system plays a significant role in industries, and usually acts as a core point in control and power transmission. Although linear theory-based control methods have been well established, advanced controller design methods for hydraulic servo system to achieve high performance is still an unending pursuit along with the development of modern industry. Essential nonlinearity is a unique feature and makes model-based nonlinear control more attractive, due to benefit from prior knowledge of the servo valve controlled hydraulic system. In this paper, a discussion for challenges in model-based nonlinear control, latest developments and brief perspectives of hydraulic servo systems are presented: Modelling uncertainty in hydraulic system is a major challenge, which includes parametric uncertainty and time-varying disturbance; some specific requirements also arise ad hoc difficulties such as nonlinear friction during low velocity tracking, severe disturbance, periodic disturbance, etc.; to handle various challenges, nonlinear solutions including parameter adaptation, nonlinear robust control, state and disturbance observation, backstepping design and so on, are proposed and integrated, theoretical analysis and lots of applications reveal their powerful capability to solve pertinent problems; and at the end, some perspectives and associated research topics (measurement noise, constraints, inner valve dynamics, input nonlinearity, etc.) in nonlinear hydraulic servo control are briefly explored and discussed.

  8. A New Servo Control Drive for Electro Discharge Texturing System Industrial Applications Using Ultrasonic Technology

    Directory of Open Access Journals (Sweden)

    M. Shafik

    2013-07-01

    Full Text Available This paper presents a new ultrasonic servo control drive for electro discharge texturing system industrial applications. The new drive is aiming to overcome the current teething issues of the existing electro discharge texturing system, servo control drive level of precision, processing stability, dynamic response and surface profile of the machined products. The new ultrasonic servo control drive consists of three main apparatuses, an ultrasonic motor, electronic driver and control unit. The ultrasonic motor consists of three main parts, the stator, rotor and sliding element. The motor design process, basic configuration, principles of motion, finite element analysis and experimental examination of the main characteristics is discussed in this paper. The electronic driver of the motor consists of two main stages which are the booster and piezoelectric amplifier. The experimental test and validation of the developed servo control drive in electro discharge texturing platform is also discussed and presented in this paper. The initial results showed that the ultrasonic servo control drive is able to provide: a bidirectional of motion, a resolution of <50μm and a dynamic response of <10msec. The electron microscopic micro examination into the textured samples showed that: a clear improvement in machining stability, products surface profile, a notable reduction in the processing time, arcing and short-circuiting teething phenomena.

  9. Researching on YH100 Numerical Control Servo Press Hydraulic Control System and Control Algorithm

    Directory of Open Access Journals (Sweden)

    Kai LI

    2014-09-01

    Full Text Available In order to study the numerical control (NC servo press hydraulic control system and its control algorithm. The numerical control servo press performance and control principle of hydraulic control system are analyzed. According to the flow equation of the hydraulic control valve, hydraulic cylinder flow continuity equation and the force balance equation of the hydraulic cylinder with load press, the mathematical model of hydraulic control system is established. And the servo press hydraulic system transfer function is deduced. Introducing the suitable immune particle swarm control algorithm for servo press hydraulic system, and the control system block diagram is established. Immune algorithm is used to optimize new control parameters of the system and adopt the new optimization results to optimize the system simulation. The simulation result shows that the hydraulic system’s transition time controlled by the immune particle swarm algorithm is shorter than traditional ones, and the control performance is obviously improved. Finally it can be concluded that immune particle swarm PID control have these characteristics such as quickness, stability and accuracy. Applying this principle into application, the obtained YH100 numerical control servo press hydraulic control system meets the requirement.

  10. Eucalyptus hairy roots, a fast, efficient and versatile tool to explore function and expression of genes involved in wood formation.

    Science.gov (United States)

    Plasencia, Anna; Soler, Marçal; Dupas, Annabelle; Ladouce, Nathalie; Silva-Martins, Guilherme; Martinez, Yves; Lapierre, Catherine; Franche, Claudine; Truchet, Isabelle; Grima-Pettenati, Jacqueline

    2016-06-01

    Eucalyptus are of tremendous economic importance being the most planted hardwoods worldwide for pulp and paper, timber and bioenergy. The recent release of the Eucalyptus grandis genome sequence pointed out many new candidate genes potentially involved in secondary growth, wood formation or lineage-specific biosynthetic pathways. Their functional characterization is, however, hindered by the tedious, time-consuming and inefficient transformation systems available hitherto for eucalypts. To overcome this limitation, we developed a fast, reliable and efficient protocol to obtain and easily detect co-transformed E. grandis hairy roots using fluorescent markers, with an average efficiency of 62%. We set up conditions both to cultivate excised roots in vitro and to harden composite plants and verified that hairy root morphology and vascular system anatomy were similar to wild-type ones. We further demonstrated that co-transformed hairy roots are suitable for medium-throughput functional studies enabling, for instance, protein subcellular localization, gene expression patterns through RT-qPCR and promoter expression, as well as the modulation of endogenous gene expression. Down-regulation of the Eucalyptus cinnamoyl-CoA reductase1 (EgCCR1) gene, encoding a key enzyme in lignin biosynthesis, led to transgenic roots with reduced lignin levels and thinner cell walls. This gene was used as a proof of concept to demonstrate that the function of genes involved in secondary cell wall biosynthesis and wood formation can be elucidated in transgenic hairy roots using histochemical, transcriptomic and biochemical approaches. The method described here is timely because it will accelerate gene mining of the genome for both basic research and industry purposes. © 2015 Society for Experimental Biology, Association of Applied Biologists and John Wiley & Sons Ltd.

  11. Getting nowhere fast: trade-off between speed and precision in training to execute image-guided hand-tool movements

    Directory of Open Access Journals (Sweden)

    Anil Ufuk Batmaz

    2016-11-01

    Full Text Available Abstract Background The speed and precision with which objects are moved by hand or hand-tool interaction under image guidance depend on a specific type of visual and spatial sensorimotor learning. Novices have to learn to optimally control what their hands are doing in a real-world environment while looking at an image representation of the scene on a video monitor. Previous research has shown slower task execution times and lower performance scores under image-guidance compared with situations of direct action viewing. The cognitive processes for overcoming this drawback by training are not yet understood. Methods We investigated the effects of training on the time and precision of direct view versus image guided object positioning on targets of a Real-world Action Field (RAF. Two men and two women had to learn to perform the task as swiftly and as precisely as possible with their dominant hand, using a tool or not and wearing a glove or not. Individuals were trained in sessions of mixed trial blocks with no feed-back. Results As predicted, image-guidance produced significantly slower times and lesser precision in all trainees and sessions compared with direct viewing. With training, all trainees get faster in all conditions, but only one of them gets reliably more precise in the image-guided conditions. Speed-accuracy trade-offs in the individual performance data show that the highest precision scores and steepest learning curve, for time and precision, were produced by the slowest starter. Fast starters produced consistently poorer precision scores in all sessions. The fastest starter showed no sign of stable precision learning, even after extended training. Conclusions Performance evolution towards optimal precision is compromised when novices start by going as fast as they can. The findings have direct implications for individual skill monitoring in training programmes for image-guided technology applications with human operators.

  12. Fault Diagnosis of Hydraulic Servo Valve Based on Genetic Optimization RBF-BP Neural Network

    Directory of Open Access Journals (Sweden)

    Li-Ping FAN

    2014-04-01

    Full Text Available Electro-hydraulic servo valves are core components of the hydraulic servo system of rolling mills. It is necessary to adopt an effective fault diagnosis method to keep the hydraulic servo valve in a good work state. In this paper, RBF and BP neural network are integrated effectively to build a double hidden layers RBF-BP neural network for fault diagnosis. In the process of training the neural network, genetic algorithm (GA is used to initialize and optimize the connection weights and thresholds of the network. Several typical fault states are detected by the constructed GA-optimized fault diagnosis scheme. Simulation results shown that the proposed fault diagnosis scheme can give satisfactory effect.

  13. Robust Hinfinity position control synthesis of an electro-hydraulic servo system.

    Science.gov (United States)

    Milić, Vladimir; Situm, Zeljko; Essert, Mario

    2010-10-01

    This paper focuses on the use of the techniques based on linear matrix inequalities for robust H(infinity) position control synthesis of an electro-hydraulic servo system. A nonlinear dynamic model of the hydraulic cylindrical actuator with a proportional valve has been developed. For the purpose of the feedback control an uncertain linearized mathematical model of the system has been derived. The structured (parametric) perturbations in the electro-hydraulic coefficients are taken into account. H(infinity) controller extended with an integral action is proposed. To estimate internal states of the electro-hydraulic servo system an observer is designed. Developed control algorithms have been tested experimentally in the laboratory model of an electro-hydraulic servo system. Copyright © 2010 ISA. Published by Elsevier Ltd. All rights reserved.

  14. An electro-hydraulic servo control system research for CFETR blanket RH

    Energy Technology Data Exchange (ETDEWEB)

    Chen, Changqi [Hefei University of Technology, Hefei 230009, Anhui (China); Tang, Hongjun, E-mail: taurustang@126.com [Hefei University of Technology, Hefei 230009, Anhui (China); Qi, Songsong [Hefei University of Technology, Hefei 230009, Anhui (China); Cheng, Yong; Feng, Hansheng; Peng, Xuebing; Song, Yuntao [Institute of Plasma Physics Chinese Academy of Sciences, Hefei 230031, Anhui (China)

    2014-11-15

    Highlights: • We discussed the conceptual design of CFETR blanket RH maintenance system. • The mathematical model of electro-hydraulic servo system was calculated. • A fuzzy adaptive PD controller was designed based on control theory and experience. • The co-simulation models of the system were established with AMESim/Simulink. • The fuzzy adaptive PD algorithm was designed as the core strategy of the system. - Abstract: Based on the technical design requirements of China Fusion Engineering Test Reactor (CFETR) blanket remote handling (RH) maintenance, this paper focus on the control method of achieving high synchronization accuracy of electro-hydraulic servo system. Based on fuzzy control theory and practical experience, a fuzzy adaptive proportional-derivative (PD) controller was designed. Then a more precise co-simulation model was established with AMESim/Simulink. Through the analysis of simulation results, a fuzzy adaptive PD control algorithm was designed as the core strategy of electro-hydraulic servo control system.

  15. Research Based on AMESim of Electro-hydraulic Servo Loading System

    Science.gov (United States)

    Li, Jinlong; Hu, Zhiyong

    2017-09-01

    Electro-hydraulic servo loading system is a subject studied by many scholars in the field of simulation and control at home and abroad. The electro-hydraulic servo loading system is a loading device simulation of stress objects by aerodynamic moment and other force in the process of movement, its function is all kinds of gas in the lab condition to analyze stress under dynamic load of objects. The purpose of this paper is the design of AMESim electro-hydraulic servo system, PID control technology is used to configure the parameters of the control system, complete the loading process under different conditions, the optimal design parameters, optimization of dynamic performance of the loading system.

  16. An electro-hydraulic servo control system research for CFETR blanket RH

    International Nuclear Information System (INIS)

    Chen, Changqi; Tang, Hongjun; Qi, Songsong; Cheng, Yong; Feng, Hansheng; Peng, Xuebing; Song, Yuntao

    2014-01-01

    Highlights: • We discussed the conceptual design of CFETR blanket RH maintenance system. • The mathematical model of electro-hydraulic servo system was calculated. • A fuzzy adaptive PD controller was designed based on control theory and experience. • The co-simulation models of the system were established with AMESim/Simulink. • The fuzzy adaptive PD algorithm was designed as the core strategy of the system. - Abstract: Based on the technical design requirements of China Fusion Engineering Test Reactor (CFETR) blanket remote handling (RH) maintenance, this paper focus on the control method of achieving high synchronization accuracy of electro-hydraulic servo system. Based on fuzzy control theory and practical experience, a fuzzy adaptive proportional-derivative (PD) controller was designed. Then a more precise co-simulation model was established with AMESim/Simulink. Through the analysis of simulation results, a fuzzy adaptive PD control algorithm was designed as the core strategy of electro-hydraulic servo control system

  17. Servo-control of water and sodium homeostasis during renal clearance measurements in conscious rats

    DEFF Research Database (Denmark)

    Thomsen, Klaus; Shirley, David G

    2007-01-01

    Servo-controlled fluid and sodium replacement during clearance studies is used in order to prevent loss of body fluid and sodium following diuretic/natriuretic procedures. However, even under control conditions, the use of this technique is sometimes associated with increases in proximal tubular...... fluid output (assessed by lithium clearance) and excretion rates. The present study examined the reason for these increases. The first series of experiments showed that one cause is volume overloading. This can occur if the servo system is activated from the start, i.e., during the establishment...... not seen when blood samples are replaced with the animal's own red blood cells resuspended in isotonic saline. When these pitfalls are avoided, servo-controlled sodium and fluid replacement is a reliable technique that makes it possible to study the effects of natriuretic and/or diuretic stimuli without...

  18. Research on Visual Servo Grasping of Household Objects for Nonholonomic Mobile Manipulator

    Directory of Open Access Journals (Sweden)

    Huangsheng Xie

    2014-01-01

    Full Text Available This paper focuses on the problem of visual servo grasping of household objects for nonholonomic mobile manipulator. Firstly, a new kind of artificial object mark based on QR (Quick Response Code is designed, which can be affixed to the surface of household objects. Secondly, after summarizing the vision-based autonomous mobile manipulation system as a generalized manipulator, the generalized manipulator’s kinematic model is established, the analytical inverse kinematic solutions of the generalized manipulator are acquired, and a novel active vision based camera calibration method is proposed to determine the hand-eye relationship. Finally, a visual servo switching control law is designed to control the service robot to finish object grasping operation. Experimental results show that QR Code-based artificial object mark can overcome the difficulties brought by household objects’ variety and operation complexity, and the proposed visual servo scheme makes it possible for service robot to grasp and deliver objects efficiently.

  19. Analogical study of the servo-control of a reactivity modulator

    International Nuclear Information System (INIS)

    Le Bot, Michel

    1969-03-01

    In the context of the study of the transfer functions related to the Cabri reactor, this paper presents: the objective of the servo-control (reactivity modulator, reasons for the analogical study), the principles of the servo-control (description of the servo-controlled system, elaboration of the error signal, principles of the phase meter, critical analysis of different types of phase meters), the analogical formulation (transfer diagram of the process, analogical simulation of the process, analogical realization of the phase meter, simulation of the Low Frequency generator), study of the controlled system and results (system responses to echelon and ramp signals, responses of the controlled system with the phase meter in feedback)

  20. Verification and Validation of Multisegmented Mooring Capabilities in FAST v8

    DEFF Research Database (Denmark)

    Andersen, Morten Thøtt; Wendt, Fabian F.; Robertson, Amy N.

    2016-01-01

    The quasi-static and dynamic mooring modules of the open-source aero-hydro-servo-elastic wind turbine simulation software, FAST v8, have previously been verified and validated, but only for mooring arrangements consisting of single lines connecting each fairlead and anchor. This paper extends the...

  1. Verification and Validation of the New Dynamic Mooring Modules Available in FAST v8

    DEFF Research Database (Denmark)

    Wendt, Fabian F.; Andersen, Morten Thøtt; Robertson, Amy N.

    2016-01-01

    The open-source, aero-hydro-servo-elastic wind turbine simulation software FAST v8 (created by the National Renewable Energy Laboratory) was recently coupled to two newly developed mooring dynamics modules: MoorDyn and FEAMooring. MoorDyn is a lumped-mass-based mooring dynamics module developed b...

  2. Smart Cutting Tools and Smart Machining: Development Approaches, and Their Implementation and Application Perspectives

    Science.gov (United States)

    Cheng, Kai; Niu, Zhi-Chao; Wang, Robin C.; Rakowski, Richard; Bateman, Richard

    2017-09-01

    Smart machining has tremendous potential and is becoming one of new generation high value precision manufacturing technologies in line with the advance of Industry 4.0 concepts. This paper presents some innovative design concepts and, in particular, the development of four types of smart cutting tools, including a force-based smart cutting tool, a temperature-based internally-cooled cutting tool, a fast tool servo (FTS) and smart collets for ultraprecision and micro manufacturing purposes. Implementation and application perspectives of these smart cutting tools are explored and discussed particularly for smart machining against a number of industrial application requirements. They are contamination-free machining, machining of tool-wear-prone Si-based infra-red devices and medical applications, high speed micro milling and micro drilling, etc. Furthermore, implementation techniques are presented focusing on: (a) plug-and-produce design principle and the associated smart control algorithms, (b) piezoelectric film and surface acoustic wave transducers to measure cutting forces in process, (c) critical cutting temperature control in real-time machining, (d) in-process calibration through machining trials, (e) FE-based design and analysis of smart cutting tools, and (f) application exemplars on adaptive smart machining.

  3. The performance and limitations of FPGA-based digital servos for atomic, molecular, and optical physics experiments.

    Science.gov (United States)

    Yu, Shi Jing; Fajeau, Emma; Liu, Lin Qiao; Jones, David J; Madison, Kirk W

    2018-02-01

    In this work, we address the advantages, limitations, and technical subtleties of employing field programmable gate array (FPGA)-based digital servos for high-bandwidth feedback control of lasers in atomic, molecular, and optical physics experiments. Specifically, we provide the results of benchmark performance tests in experimental setups including noise, bandwidth, and dynamic range for two digital servos built with low and mid-range priced FPGA development platforms. The digital servo results are compared to results obtained from a commercially available state-of-the-art analog servo using the same plant for control (intensity stabilization). The digital servos have feedback bandwidths of 2.5 MHz, limited by the total signal latency, and we demonstrate improvements beyond the transfer function offered by the analog servo including a three-pole filter and a two-pole filter with phase compensation to suppress resonances. We also discuss limitations of our FPGA-servo implementation and general considerations when designing and using digital servos.

  4. Disturbance observer that uses radial basis function networks for the low speed control of a servo motor

    DEFF Research Database (Denmark)

    Lee, Kyo-Beum; Bae, C.H.; Blaabjerg, Frede

    2005-01-01

    A scheme to estimate the moment of inertia in a servo motor drive system at very low speed is proposed. The typical speed estimation scheme used in most servo systems operated at low speed is highly sensitive to variations in the moment of inertia. An observer that uses a radial basis function...

  5. The performance and limitations of FPGA-based digital servos for atomic, molecular, and optical physics experiments

    Science.gov (United States)

    Yu, Shi Jing; Fajeau, Emma; Liu, Lin Qiao; Jones, David J.; Madison, Kirk W.

    2018-02-01

    In this work, we address the advantages, limitations, and technical subtleties of employing field programmable gate array (FPGA)-based digital servos for high-bandwidth feedback control of lasers in atomic, molecular, and optical physics experiments. Specifically, we provide the results of benchmark performance tests in experimental setups including noise, bandwidth, and dynamic range for two digital servos built with low and mid-range priced FPGA development platforms. The digital servo results are compared to results obtained from a commercially available state-of-the-art analog servo using the same plant for control (intensity stabilization). The digital servos have feedback bandwidths of 2.5 MHz, limited by the total signal latency, and we demonstrate improvements beyond the transfer function offered by the analog servo including a three-pole filter and a two-pole filter with phase compensation to suppress resonances. We also discuss limitations of our FPGA-servo implementation and general considerations when designing and using digital servos.

  6. DC motors and servo-motors controlled by Raspberry Pi 2B

    Directory of Open Access Journals (Sweden)

    Šustek Michal

    2017-01-01

    Full Text Available The expanding capabilities of today’s microcontrollers and other devices lead to an increased utilization of these technologies in diverse fields. The automation and issue of remote control of moving objects belong to these fields. In this project, a microcontroller Raspberry Pi 2B was chosen for controlling DC motors and servo-motors. This paper provides basic insight into issue of controlling DC motors and servo-motors, connection between Raspberry and other components on breadboard and programming syntaxes for controlling motors in Python programming language.

  7. Application of prediction of equilibrium to servo-controlled calorimetry measurements

    International Nuclear Information System (INIS)

    Mayer, R.L. II

    1987-01-01

    Research was performed to develop an endpoint prediction algorithm for use with calorimeters operating in the digital servo-controlled mode. The purpose of this work was to reduce calorimetry measurement times while maintaining the high degree of precision and low bias expected from calorimetry measurements. Data from routine operation of two calorimeters were used to test predictive models at each stage of development against time savings, precision, and robustness criteria. The results of the study indicated that calorimetry measurement times can be significantly reduced using this technique. The time savings is, however, dependent on parameters in the digital servo-control algorithm and on packaging characteristics of measured items

  8. Robust and Stable Disturbance Observer of Servo System for Low-Speed Operation

    DEFF Research Database (Denmark)

    Lee, Kyo Beum; Blaabjerg, Frede

    2007-01-01

    A new scheme to estimate the moment of inertia in the servo motor drive system in very low speed is proposed in this paper. The speed estimation scheme in most servo drive systems for low-speed operation is sensitive to the variation of machine parameter, especially the moment of inertia....... To estimate the motor inertia value, the observer using the Radial Basis Function Network (RBFN) is applied. A control law for stabilizing the system and adaptive laws for updating both of the weights in the RBFN and a bounding constant are established so that the whole closed-loop system is stable...

  9. Performance Improvement of Servo Machine Low Speed Operation Using RBFN Disturbance Observer

    DEFF Research Database (Denmark)

    Lee, Kyo-Beum; Blaabjerg, Frede

    2004-01-01

    A new scheme to estimate the moment of inertia in the servo motor drive system in very low speed is proposed in this paper. The typical speed estimation scheme in most servo system for low speed operation is sensitive to the variation of machine parameters, especially the moment of inertia....... To estimate the motor inertia value, the observer using the Radial Basis Function Networks (RBFN) is applied. The effectiveness of the proposed inertia estimation method is verified by experiments. It is concluded that the speed control performance in the low speed region is improved with the proposed...

  10. Concurrent image-based visual servoing with adaptive zooming for non-cooperative rendezvous maneuvers

    Science.gov (United States)

    Pomares, Jorge; Felicetti, Leonard; Pérez, Javier; Emami, M. Reza

    2018-02-01

    An image-based servo controller for the guidance of a spacecraft during non-cooperative rendezvous is presented in this paper. The controller directly utilizes the visual features from image frames of a target spacecraft for computing both attitude and orbital maneuvers concurrently. The utilization of adaptive optics, such as zooming cameras, is also addressed through developing an invariant-image servo controller. The controller allows for performing rendezvous maneuvers independently from the adjustments of the camera focal length, improving the performance and versatility of maneuvers. The stability of the proposed control scheme is proven analytically in the invariant space, and its viability is explored through numerical simulations.

  11. Parametric model of servo-hydraulic actuator coupled with a nonlinear system: Experimental validation

    Science.gov (United States)

    Maghareh, Amin; Silva, Christian E.; Dyke, Shirley J.

    2018-05-01

    Hydraulic actuators play a key role in experimental structural dynamics. In a previous study, a physics-based model for a servo-hydraulic actuator coupled with a nonlinear physical system was developed. Later, this dynamical model was transformed into controllable canonical form for position tracking control purposes. For this study, a nonlinear device is designed and fabricated to exhibit various nonlinear force-displacement profiles depending on the initial condition and the type of materials used as replaceable coupons. Using this nonlinear system, the controllable canonical dynamical model is experimentally validated for a servo-hydraulic actuator coupled with a nonlinear physical system.

  12. FAST: FAST Analysis of Sequences Toolbox

    Directory of Open Access Journals (Sweden)

    Travis J. Lawrence

    2015-05-01

    Full Text Available FAST (FAST Analysis of Sequences Toolbox provides simple, powerful open source command-line tools to filter, transform, annotate and analyze biological sequence data. Modeled after the GNU (GNU’s Not Unix Textutils such as grep, cut, and tr, FAST tools such as fasgrep, fascut, and fastr make it easy to rapidly prototype expressive bioinformatic workflows in a compact and generic command vocabulary. Compact combinatorial encoding of data workflows with FAST commands can simplify the documentation and reproducibility of bioinformatic protocols, supporting better transparency in biological data science. Interface self-consistency and conformity with conventions of GNU, Matlab, Perl, BioPerl, R and GenBank help make FAST easy and rewarding to learn. FAST automates numerical, taxonomic, and text-based sorting, selection and transformation of sequence records and alignment sites based on content, index ranges, descriptive tags, annotated features, and in-line calculated analytics, including composition and codon usage. Automated content- and feature-based extraction of sites and support for molecular population genetic statistics makes FAST useful for molecular evolutionary analysis. FAST is portable, easy to install and secure thanks to the relative maturity of its Perl and BioPerl foundations, with stable releases posted to CPAN. Development as well as a publicly accessible Cookbook and Wiki are available on the FAST GitHub repository at https://github.com/tlawrence3/FAST. The default data exchange format in FAST is Multi-FastA (specifically, a restriction of BioPerl FastA format. Sanger and Illumina 1.8+ FastQ formatted files are also supported. FAST makes it easier for non-programmer biologists to interactively investigate and control biological data at the speed of thought.

  13. sTools - a data reduction pipeline for the GREGOR Fabry-Pérot Interferometer and the High-resolution Fast Imager at the GREGOR solar telescope

    Science.gov (United States)

    Kuckein, C.; Denker, C.; Verma, M.; Balthasar, H.; González Manrique, S. J.; Louis, R. E.; Diercke, A.

    2017-10-01

    A huge amount of data has been acquired with the GREGOR Fabry-Pérot Interferometer (GFPI), large-format facility cameras, and since 2016 with the High-resolution Fast Imager (HiFI). These data are processed in standardized procedures with the aim of providing science-ready data for the solar physics community. For this purpose, we have developed a user-friendly data reduction pipeline called ``sTools'' based on the Interactive Data Language (IDL) and licensed under creative commons license. The pipeline delivers reduced and image-reconstructed data with a minimum of user interaction. Furthermore, quick-look data are generated as well as a webpage with an overview of the observations and their statistics. All the processed data are stored online at the GREGOR GFPI and HiFI data archive of the Leibniz Institute for Astrophysics Potsdam (AIP). The principles of the pipeline are presented together with selected high-resolution spectral scans and images processed with sTools.

  14. CloudAligner: A fast and full-featured MapReduce based tool for sequence mapping

    Directory of Open Access Journals (Sweden)

    Shi Weisong

    2011-06-01

    Full Text Available Abstract Background Research in genetics has developed rapidly recently due to the aid of next generation sequencing (NGS. However, massively-parallel NGS produces enormous amounts of data, which leads to storage, compatibility, scalability, and performance issues. The Cloud Computing and MapReduce framework, which utilizes hundreds or thousands of shared computers to map sequencing reads quickly and efficiently to reference genome sequences, appears to be a very promising solution for these issues. Consequently, it has been adopted by many organizations recently, and the initial results are very promising. However, since these are only initial steps toward this trend, the developed software does not provide adequate primary functions like bisulfite, pair-end mapping, etc., in on-site software such as RMAP or BS Seeker. In addition, existing MapReduce-based applications were not designed to process the long reads produced by the most recent second-generation and third-generation NGS instruments and, therefore, are inefficient. Last, it is difficult for a majority of biologists untrained in programming skills to use these tools because most were developed on Linux with a command line interface. Results To urge the trend of using Cloud technologies in genomics and prepare for advances in second- and third-generation DNA sequencing, we have built a Hadoop MapReduce-based application, CloudAligner, which achieves higher performance, covers most primary features, is more accurate, and has a user-friendly interface. It was also designed to be able to deal with long sequences. The performance gain of CloudAligner over Cloud-based counterparts (35 to 80% mainly comes from the omission of the reduce phase. In comparison to local-based approaches, the performance gain of CloudAligner is from the partition and parallel processing of the huge reference genome as well as the reads. The source code of CloudAligner is available at http

  15. CloudAligner: A fast and full-featured MapReduce based tool for sequence mapping.

    Science.gov (United States)

    Nguyen, Tung; Shi, Weisong; Ruden, Douglas

    2011-06-06

    Research in genetics has developed rapidly recently due to the aid of next generation sequencing (NGS). However, massively-parallel NGS produces enormous amounts of data, which leads to storage, compatibility, scalability, and performance issues. The Cloud Computing and MapReduce framework, which utilizes hundreds or thousands of shared computers to map sequencing reads quickly and efficiently to reference genome sequences, appears to be a very promising solution for these issues. Consequently, it has been adopted by many organizations recently, and the initial results are very promising. However, since these are only initial steps toward this trend, the developed software does not provide adequate primary functions like bisulfite, pair-end mapping, etc., in on-site software such as RMAP or BS Seeker. In addition, existing MapReduce-based applications were not designed to process the long reads produced by the most recent second-generation and third-generation NGS instruments and, therefore, are inefficient. Last, it is difficult for a majority of biologists untrained in programming skills to use these tools because most were developed on Linux with a command line interface. To urge the trend of using Cloud technologies in genomics and prepare for advances in second- and third-generation DNA sequencing, we have built a Hadoop MapReduce-based application, CloudAligner, which achieves higher performance, covers most primary features, is more accurate, and has a user-friendly interface. It was also designed to be able to deal with long sequences. The performance gain of CloudAligner over Cloud-based counterparts (35 to 80%) mainly comes from the omission of the reduce phase. In comparison to local-based approaches, the performance gain of CloudAligner is from the partition and parallel processing of the huge reference genome as well as the reads. The source code of CloudAligner is available at http://cloudaligner.sourceforge.net/ and its web version is at http

  16. A computer-based servo system for controlling isotonic contractions of muscle.

    Science.gov (United States)

    Smith, J P; Barsotti, R J

    1993-11-01

    We have developed a computer-based servo system for controlling isotonic releases in muscle. This system is a composite of commercially available devices: an IBM personal computer, an analog-to-digital (A/D) board, an Akers AE801 force transducer, and a Cambridge Technology motor. The servo loop controlling the force clamp is generated by computer via the A/D board, using a program written in QuickBASIC 4.5. Results are shown that illustrate the ability of the system to clamp the force generated by either skinned cardiac trabeculae or single rabbit psoas fibers down to the resolution of the force transducer within 4 ms. This rate is independent of the level of activation of the tissue and the size of the load imposed during the release. The key to the effectiveness of the system consists of two algorithms that are described in detail. The first is used to calculate the error signal to hold force to the desired level. The second algorithm is used to calculate the appropriate gain of the servo for a particular fiber and the size of the desired load to be imposed. The results show that the described computer-based method for controlling isotonic releases in muscle represents a good compromise between simplicity and performance and is an alternative to the custom-built digital/analog servo devices currently being used in studies of muscle mechanics.

  17. Efficient control of servo pneumatic actuator system utilizing by-pass ...

    Indian Academy of Sciences (India)

    The issue of energy saving nowadays is very crucial. Pneumatic systems, constituting an important segment of almost every industry, represent large energy consumers. Also, a significant problem with servo pneumatic actuators is achieving accuracy in positioning. The higher the positioning accuracy, the higher the ...

  18. Feature tracking for visual servo based range regulation on a mobile robot

    CSIR Research Space (South Africa)

    Burke, Michael G

    2009-11-01

    Full Text Available This poster presents a visual servo approach to straight line range and velocity regulation. The difference in velocity between a lead mobile robot and a follower is regulated through velocity control of the follower, in order to maintain a constant...

  19. Lung function studied by servo-controlled ventilator and respiratory mass spectrometer

    International Nuclear Information System (INIS)

    Piiper, J.

    1987-01-01

    The gas exchange function of lungs is studied. The gas concentration, measured by mass spectrometry and the lung volume and rate of change of lung volume are discussed. A servo-controlled ventilator is presented. Several experimental projects performed on anesthetized paralyzed dogs are reported. (M.A.C.) [pt

  20. The computer-aided design of a servo system as a multiple-criteria decision problem

    NARCIS (Netherlands)

    Udink ten Cate, A.J.

    1986-01-01

    This paper treats the selection of controller gains of a servo system as a multiple-criteria decision problem. In contrast to the usual optimization-based approaches to computer-aided design, inequality constraints are included in the problem as unconstrained objectives. This considerably simplifies

  1. Adaptive control of the radial servo system of a compact disc player

    NARCIS (Netherlands)

    Draijer, W.; Steinbuch, M.; Bosgra, O.H.

    1992-01-01

    The radial servo system of a compact disc player has to cope with large gain variations which are due to disc dependent optical characteristics, tolerances in mechanical and electrical components and nonlinearity in the generation of the position index. In current players this problem has been

  2. Image-based visual servo control using the port-Hamiltonian Approach

    NARCIS (Netherlands)

    Muñoz Arias, Mauricio; El Hawwary, Mohamed; Scherpen, Jacquelien M.A.

    2015-01-01

    This work is devoted to an image-based visual servo control strategy for standard mechanical systems in the port-Hamiltonian framework. We utilize a change of variables that transforms the port-Hamiltonian system into one with constant mass-inertia matrix, and we use an interaction matrix that

  3. A port-Hamiltonian approach to visual servo control of a pick and place system

    NARCIS (Netherlands)

    Dirksz, Daniel A.; Scherpen, Jacquelien M.A.

    2012-01-01

    In this paper we take a port-Hamiltonian approach to address the problem of image-based visual servo control of a pick and place system. We realize a closed-loop system, including the nonlinear camera dynamics, which is port-Hamiltonian. Although the closed-loop system is nonlinear, the resulting

  4. Performance verification and system parameter identification of spacecraft tape recorder control servo

    Science.gov (United States)

    Mukhopadhyay, A. K.

    1979-01-01

    Design adequacy of the lead-lag compensator of the frequency loop, accuracy checking of the analytical expression for the electrical motor transfer function, and performance evaluation of the speed control servo of the digital tape recorder used on-board the 1976 Viking Mars Orbiters and Voyager 1977 Jupiter-Saturn flyby spacecraft are analyzed. The transfer functions of the most important parts of a simplified frequency loop used for test simulation are described and ten simulation cases are reported. The first four of these cases illustrate the method of selecting the most suitable transfer function for the hysteresis synchronous motor, while the rest verify and determine the servo performance parameters and alternative servo compensation schemes. It is concluded that the linear methods provide a starting point for the final verification/refinement of servo design by nonlinear time response simulation and that the variation of the parameters of the static/dynamic Coulomb friction is as expected in a long-life space mission environment.

  5. A port-Hamiltonian approach to image-based visual servo control for dynamic systems

    NARCIS (Netherlands)

    Mahony, R.; Stramigioli, Stefano

    2012-01-01

    This paper introduces a port-Hamiltonian framework for the design of image-based visual servo control for dynamic mechanical systems. The approach taken introduces the concept of an image effort and provides an interpretation of energy exchange between the dynamics of the physical system and virtual

  6. A Port-Hamiltonian Approach to Visual Servo Control of a Pick and Place System

    NARCIS (Netherlands)

    Dirksz, Daniel A.; Scherpen, Jacquelien M. A.; Steinbuch, Maarten

    In this paper, we take a port-Hamiltonian approach to address the problem of image-based visual servo control of a pick and place system. Through a coordinate transformation and a passive interconnection between mechanical system and camera dynamics we realize a closed-loop system that is

  7. Model-based specification, analysis and synthesis of servo controllers for lithoscanners

    NARCIS (Netherlands)

    Schiffelers, R.; Alberts, W.; Voeten, J.P.M.

    2012-01-01

    ASML is the world's leading provider of complex lithography systems for the semiconductor industry. Such systems consist of numerous servo control systems. To design such control systems, a multi-disciplinary model-based development environment has been developed. It is based on a set of domain

  8. Exploiting H infinity sampled-data control theory for high-precision electromechanical servo control design

    NARCIS (Netherlands)

    Oomen, T.A.E.; Wal, van de M.M.J.; Bosgra, O.H.

    2006-01-01

    Optimal design of digital controllers for industrial electromechanical servo systems using an Hinf-criterion is considered. Present industrial practice is to perform the control design in the continuous time domain and to discretize the controller a posteriori. This procedure involves unnecessary

  9. Antenna servo control system characterization: Rate loop analysis for 34-m antenna at DSS 15

    Science.gov (United States)

    Nickerson, J. A.; Cox, D. G.; Smith, H. K.; Engel, J. H.; Ahlstrom, H. G.

    1986-01-01

    The elevation and azimuth servo rate loops at the 34-m High Efficiency Deep Space Station 15 (DSS 15) are described. Time and frequency response performance criteria were measured. The results are compared to theoretically deduced performance criteria. Unexpected anomalies in the frequency response are observed and identified.

  10. Analysis of and H∞ Controller Design For An Electro-Hydraulic Servo Pressure Regulator

    DEFF Research Database (Denmark)

    Stubkier, Søren; Pedersen, Henrik C.; Andersen, Torben Ole

    2011-01-01

    -circuit pumps are still hydraulically controlled, there is however still a need for being able to generate a hydraulic pilot pressure. The focus of the current paper is on the analysis and controller design of an electrohydraulic servo pressure regulator, which generates a hydraulic LS-pressure for a variable...

  11. Evaluation of Linear and Non-Linear Control Schemes Applied to a Hydraulic Servo System

    DEFF Research Database (Denmark)

    Andersen, Torben Ole; Hansen, Michael Rygaard; Pedersen, Henrik Clemmensen

    2005-01-01

    Due to the innovation of low-cost electronics such as sensors, microcontrollers etc., the focus on highperformance motion control is increasing. This work focuses on position control of single-input single-output hydraulic servo-systems in general. A hydraulically actuated robotic manipulator...

  12. Temperature-controlled micro-TLC: a versatile green chemistry and fast analytical tool for separation and preliminary screening of steroids fraction from biological and environmental samples.

    Science.gov (United States)

    Zarzycki, Paweł K; Slączka, Magdalena M; Zarzycka, Magdalena B; Bartoszuk, Małgorzata A; Włodarczyk, Elżbieta; Baran, Michał J

    2011-11-01

    This paper is a continuation of our previous research focusing on development of micro-TLC methodology under temperature-controlled conditions. The main goal of present paper is to demonstrate separation and detection capability of micro-TLC technique involving simple analytical protocols without multi-steps sample pre-purification. One of the advantages of planar chromatography over its column counterpart is that each TLC run can be performed using non-previously used stationary phase. Therefore, it is possible to fractionate or separate complex samples characterized by heavy biological matrix loading. In present studies components of interest, mainly steroids, were isolated from biological samples like fish bile using single pre-treatment steps involving direct organic liquid extraction and/or deproteinization by freeze-drying method. Low-molecular mass compounds with polarity ranging from estetrol to progesterone derived from the environmental samples (lake water, untreated and treated sewage waters) were concentrated using optimized solid-phase extraction (SPE). Specific bands patterns for samples derived from surface water of the Middle Pomerania in northern part of Poland can be easily observed on obtained micro-TLC chromatograms. This approach can be useful as simple and non-expensive complementary method for fast control and screening of treated sewage water discharged by the municipal wastewater treatment plants. Moreover, our experimental results show the potential of micro-TLC as an efficient tool for retention measurements of a wide range of steroids under reversed-phase (RP) chromatographic conditions. These data can be used for further optimalization of SPE or HPLC systems working under RP conditions. Furthermore, we also demonstrated that micro-TLC based analytical approach can be applied as an effective method for the internal standard (IS) substance search. Generally, described methodology can be applied for fast fractionation or screening of the

  13. Adaptive servo ventilation for central sleep apnoea in heart failure: SERVE-HF on-treatment analysis.

    Science.gov (United States)

    Woehrle, Holger; Cowie, Martin R; Eulenburg, Christine; Suling, Anna; Angermann, Christiane; d'Ortho, Marie-Pia; Erdmann, Erland; Levy, Patrick; Simonds, Anita K; Somers, Virend K; Zannad, Faiez; Teschler, Helmut; Wegscheider, Karl

    2017-08-01

    This on-treatment analysis was conducted to facilitate understanding of mechanisms underlying the increased risk of all-cause and cardiovascular mortality in heart failure patients with reduced ejection fraction and predominant central sleep apnoea randomised to adaptive servo ventilation versus the control group in the SERVE-HF trial.Time-dependent on-treatment analyses were conducted (unadjusted and adjusted for predictive covariates). A comprehensive, time-dependent model was developed to correct for asymmetric selection effects (to minimise bias).The comprehensive model showed increased cardiovascular death hazard ratios during adaptive servo ventilation usage periods, slightly lower than those in the SERVE-HF intention-to-treat analysis. Self-selection bias was evident. Patients randomised to adaptive servo ventilation who crossed over to the control group were at higher risk of cardiovascular death than controls, while control patients with crossover to adaptive servo ventilation showed a trend towards lower risk of cardiovascular death than patients randomised to adaptive servo ventilation. Cardiovascular risk did not increase as nightly adaptive servo ventilation usage increased.On-treatment analysis showed similar results to the SERVE-HF intention-to-treat analysis, with an increased risk of cardiovascular death in heart failure with reduced ejection fraction patients with predominant central sleep apnoea treated with adaptive servo ventilation. Bias is inevitable and needs to be taken into account in any kind of on-treatment analysis in positive airway pressure studies. Copyright ©ERS 2017.

  14. Robust control system for belt continuously variable transmission; Robust seigyo wo tekiyoshita mudan hensokuki no hensokuhi servo kei no kaihatsu

    Energy Technology Data Exchange (ETDEWEB)

    Adachi, K; Wakahara, T; Shimanaka, S; Yamamoto, M; Oshidari, T [Nissan Motor Co. Ltd., Tokyo (Japan)

    1997-10-01

    The continuously variable transmission control system consists of generation of a desired gear ratio and a servo gear ratio system. The servo gear ratio system must provide the desired response at all times without being influenced by external disturbances. These include oil pressure as well as variation in performance due to operating conditions or changes occurring with us. We have developed the servo gear ratio system incorporating a robust model matching method, which enables the belt continuously variable transmission to satisfy this performance requirement. 2 refs., 9 figs.

  15. Analysis of Dead Time and Implementation of Smith Predictor Compensation in Tracking Servo Systems for Small Unmanned Aerial Vehicles

    National Research Council Canada - National Science Library

    Brashear , Jr, Thomas J

    2005-01-01

    .... Gimbaled video camera systems, designed at NPS, use two servo actuators to command line of sight orientation via serial controller while tracking a target and is termed Visual Based Target Tracking (VBTT...

  16. The association between health-related quality of life and Ramadan fasting in diabetic patients: a survey using a structured D-39 assessment tool. A Sudanese cohort

    Directory of Open Access Journals (Sweden)

    Ahmed Osman Mahgoub

    2017-03-01

    Full Text Available Introduction: Most cases of chronic diseases result in physical, psychological, financial, and social burdens on the patients and the economy. The overall health-related quality of life of patients can be positively influenced by several variables including glycemic control, economic status, comorbidities, presence of complications, and the quality of medical, psychological, and social support. Studies examining the effects of fasting on diabetes during Ramadan fasting underline the biochemical changes without considering the psychosocial and financial implications. This study aimed to illuminate some of the challenges faced by both fasting and non-fasting diabetic patients during Ramadan.Further, we evaluated the quality of life of diabetes patients, explored the socio-demographic and disease-related variables, and estimated the percentage of diabetic patients who fasted during Ramadan. Methods: This was a community-based cross-sectional study conducted from August 2015 to October 2015. Diabetes 39 instrument was administered to 112 patients with diabetes in Khartoum to evaluate their health-related quality of life during Ramadan. Results: Fifty-four percent of study participants were female and 64.3% of them were aged between 40-60 years old. Sixty-two participants were able to fast (55.4% and fasted for more than 15 days. Half of the participants had, at least, one comorbidity, among which hypertension was the most common. Approximately 59% of fasting patients had mild impairment in their health-related quality of life, whereas 60% of non-fasting participants had moderate impairment. Limited stamina, and fear of hypoglycemia were the items with the highest mean scores in both groups. The fasting group had a lower average score (2.88 compared to the non-fasting group (3.66. This difference was statistically significant (p=0.033. Conclusion: Over 53% of study patients fasted for at least 1 day during Ramadan. Interestingly, Patients who fasted

  17. Analysis of an controller design for an electro-hydraulic servo pressure regulator

    DEFF Research Database (Denmark)

    Pedersen, Henrik C.; Andersen, Torben Ole; Madsen, A. M.

    2009-01-01

    Mobile hydraulics is in a transition phase, where electronic sensors and digital signal processors are starting to become standard on a high number of machines, hereby replacing hydraulic pilot lines and oering new possibilities with regard to both control and feasibility. For controlling some...... of the existing hydraulic components there are, however, still a need for being able to generate a hydraulic pilot pressure, as e.g. almost all open-circuit pumps are hydraulically controlled. The focus of the current paper is therefore on the analysis and controller design an electro-hydraulic servo pressure...... regulator, which generates a hydraulic LS-pressure based on an electrical reference, hereby synergistically integrating knowledge from all parts of the mechatronics area. The servo pressure regulator is used to generate the LS-signal for a variable displacement pump, and the paper rst presents...

  18. Chiari malformation and central sleep apnea syndrome: efficacy of treatment with adaptive servo-ventilation

    Directory of Open Access Journals (Sweden)

    Jorge Marques do Vale

    2014-10-01

    Full Text Available The Chiari malformation type I (CM-I has been associated with sleep-disordered breathing, especially central sleep apnea syndrome. We report the case of a 44-year-old female with CM-I who was referred to our sleep laboratory for suspected sleep apnea. The patient had undergone decompressive surgery 3 years prior. An arterial blood gas analysis showed hypercapnia. Polysomnography showed a respiratory disturbance index of 108 events/h, and all were central apnea events. Treatment with adaptive servo-ventilation was initiated, and central apnea was resolved. This report demonstrates the efficacy of servo-ventilation in the treatment of central sleep apnea syndrome associated with alveolar hypoventilation in a CM-I patient with a history of decompressive surgery.

  19. Data-Driven Based Asynchronous Motor Control for Printing Servo Systems

    Science.gov (United States)

    Bian, Min; Guo, Qingyun

    Modern digital printing equipment aims to the environmental-friendly industry with high dynamic performances and control precision and low vibration and abrasion. High performance motion control system of printing servo systems was required. Control system of asynchronous motor based on data acquisition was proposed. Iterative learning control (ILC) algorithm was studied. PID control was widely used in the motion control. However, it was sensitive to the disturbances and model parameters variation. The ILC applied the history error data and present control signals to approximate the control signal directly in order to fully track the expect trajectory without the system models and structures. The motor control algorithm based on the ILC and PID was constructed and simulation results were given. The results show that data-driven control method is effective dealing with bounded disturbances for the motion control of printing servo systems.

  20. Image-Based Visual Servoing for Manipulation Via Predictive Control – A Survey of Some Results

    Directory of Open Access Journals (Sweden)

    Corneliu Lazăr

    2016-09-01

    Full Text Available In this paper, a review of predictive control algorithms developed by the authors for visual servoing of robots in manipulation applications is presented. Using these algorithms, a control predictive framework was created for image-based visual servoing (IBVS systems. Firstly, considering the point features, in the year 2008 we introduced an internal model predictor based on the interaction matrix. Secondly, distinctly from the set-point trajectory, we introduced in 2011 the reference trajectory using the concept from predictive control. Finally, minimizing a sum of squares of predicted errors, the optimal input trajectory was obtained. The new concept of predictive control for IBVS systems was employed to develop a cascade structure for motion control of robot arms. Simulation results obtained with a simulator for predictive IBVS systems are also presented.

  1. Investigation on Superior Performance by Fractional Controller for Cart-Servo Laboratory Set-Up

    Directory of Open Access Journals (Sweden)

    Ameya Anil Kesarkar

    2014-01-01

    Full Text Available In this paper, an investigation is made on the superiority of fractional PID controller (PI^alpha D^beta over conventional PID for the cart-servo laboratory set-up. The designed controllers are optimum in the sense of Integral Absolute Error (IAE and Integral Square Error (ISE. The paper contributes in three aspects: 1 Acquiring nonlinear mathematical model for the cart-servo laboratory set-up, 2 Designing fractional and integer order PID for minimizing IAE, ISE, 3 Analyzing the performance of designed controllers for simulated plant model as well as real plant. The results show a significantly superior performance by PI^alpha D^beta as compared to the conventional PID controller.

  2. Discrete Second-Order Sliding Mode Adaptive Controller Based on Characteristic Model for Servo Systems

    Directory of Open Access Journals (Sweden)

    Zhihong Wang

    2015-01-01

    Full Text Available Considering the varying inertia and load torque in high speed and high accuracy servo systems, a novel discrete second-order sliding mode adaptive controller (DSSMAC based on characteristic model is proposed, and a command observer is also designed. Firstly, the discrete characteristic model of servo systems is established. Secondly, the recursive least square algorithm is adopted to identify time-varying parameters in characteristic model, and the observer is applied to predict the command value of next sample time. Furthermore, the stability of the closed-loop system and the convergence of the observer are analyzed. The experimental results show that the proposed method not only can adapt to varying inertia and load torque, but also has good disturbance rejection ability and robustness to uncertainties.

  3. Detection of Surface Defects and Servo Signal Restoration for a Compact Disc Player

    DEFF Research Database (Denmark)

    Odgaard, Peter Fogh; Stoustrup, Jakob; Andersen, Palle

    2006-01-01

    Compact disc (CD) players have been on the market for more than two decades, and the involved technologies, including control are very mature. Some problems, however, still remain with respect to playing CDs having to surface defects like scratches and fingerprints. Two servo control loops are used...... to keep the optical pick-up unit (OPU) focused and radially locked to the information track of the CD. The problem is to design servo controllers which are well suited for both handling surface defects and disturbances like mechanical shocks. The handling of surface defects requires a low-controller...... bandwidth which is in conflict with the requirement for the handling of disturbances. This control problem can be solved by the use of a fault tolerant control strategy, where the fault detection is very important. The OPU feeds the controllers with detector signals. Based on these, focus and radial...

  4. Adaptive Sliding Mode Robust Control for Virtual Compound-Axis Servo System

    Directory of Open Access Journals (Sweden)

    Yan Ren

    2013-01-01

    Full Text Available A structure mode of virtual compound-axis servo system is proposed to improve the tracking accuracy of the ordinary optoelectric tracking platform. It is based on the structure and principles of compound-axis servo system. A hybrid position control scheme combining the PD controller and feed-forward controller is used in subsystem to track the tracking error of the main system. This paper analyzes the influences of the equivalent disturbance in main system and proposes an adaptive sliding mode robust control method based on the improved disturbance observer. The sliding mode technique helps this disturbance observer to deal with the uncompensated disturbance in high frequency by making use of the rapid switching control value, which is based on the subtle error of disturbance estimation. Besides, the high-frequency chattering is alleviated effectively in this proposal. The effectiveness of the proposal is confirmed by experiments on optoelectric tracking platform.

  5. Characteristic Modeling and Control of Servo Systems with Backlash and Friction

    Directory of Open Access Journals (Sweden)

    Yifei Wu

    2014-01-01

    Full Text Available A novel approach for modeling and control of servo systems with backlash and friction is proposed based on the characteristic model. Firstly, to deal with friction-induced nonlinearities, a smooth Stribeck friction model is introduced. The backlash is modeled by a continuous and derivable mathematical function. Secondly, a characteristic model in the form of a second-order slowly time-varying difference equation is established and verified by simulations. Thirdly, a composite controller including the golden-section adaptive control law and the integral control law is designed and the stability of the closed-loop system is analyzed. The simulation and experimental results show that the proposed control scheme is effective and can improve the steady-state precision and the dynamic performance of the servo system with backlash and friction.

  6. Design and performance characteristic analysis of servo valve-type water hydraulic poppet valve

    International Nuclear Information System (INIS)

    Park, Sung Hwan

    2009-01-01

    For water hydraulic system control, the flow or pressure control using high-speed solenoid valve controlled by PWM control method could be a good solution for prevention of internal leakage. However, since the PWM control of on-off valves cause extensive flow and pressure fluctuation, it is difficult to control the water hydraulic actuators precisely. In this study, the servo valve-type water hydraulic valve using proportional poppet as the main valve is designed and the performance characteristics of the servo valve-type water hydraulic valve are analyzed. Furthermore, it is demonstrated through experiments that a decline in control chamber pressure that follows the change of pilot flow is caused by the occurrence of cavitation around the proportional poppet, and that fundamental characteristics of the developed valve remain unaffected by the occurrence of cavitation

  7. Enhancement of tracking performance in electro-optical system based on servo control algorithm

    Science.gov (United States)

    Choi, WooJin; Kim, SungSu; Jung, DaeYoon; Seo, HyoungKyu

    2017-10-01

    Modern electro-optical surveillance and reconnaissance systems require tracking capability to get exact images of target or to accurately direct the line of sight to target which is moving or still. This leads to the tracking system composed of image based tracking algorithm and servo control algorithm. In this study, we focus on the servo control function to minimize the overshoot in the tracking motion and do not miss the target. The scheme is to limit acceleration and velocity parameters in the tracking controller, depending on the target state information in the image. We implement the proposed techniques by creating a system model of DIRCM and simulate the same environment, validate the performance on the actual equipment.

  8. Numerical calculation for flow field of servo-tube guided hydraulic control rod driving system

    International Nuclear Information System (INIS)

    He Keyu; Han Weishi

    2010-01-01

    A new-style hydraulic control rod driving mechanism was put forward by using servo-tube control elements for the design of control rod driving mechanism. The results of numerical simulation by CFD program Fluent for flow field of hydraulic driving cylinder indicate that the bigger the outer diameter of servo-tube, the smaller the resistance coefficient of variable throttle orifice. The zero position gap of variable throttle orifice could be determined on 0.2 mm in the design. The pressure difference between the upper and nether surfaces of piston was mainly created by the throttle function of fixed throttle orifice. It can be effectively controlled by changing the gap of variable throttle orifice. And the lift force of driving cylinder is able to meet the requirement on the design load. (authors)

  9. High precision tracking control of a servo gantry with dynamic friction compensation.

    Science.gov (United States)

    Zhang, Yangming; Yan, Peng; Zhang, Zhen

    2016-05-01

    This paper is concerned with the tracking control problem of a voice coil motor (VCM) actuated servo gantry system. By utilizing an adaptive control technique combined with a sliding mode approach, an adaptive sliding mode control (ASMC) law with friction compensation scheme is proposed in presence of both frictions and external disturbances. Based on the LuGre dynamic friction model, a dual-observer structure is used to estimate the unmeasurable friction state, and an adaptive control law is synthesized to effectively handle the unknown friction model parameters as well as the bound of the disturbances. Moreover, the proposed control law is also implemented on a VCM servo gantry system for motion tracking. Simulations and experimental results demonstrate good tracking performance, which outperform traditional control approaches. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  10. Inherent limitations of fixed-time, servo-controlled radiometric calorimetry

    International Nuclear Information System (INIS)

    Wetzel, J.R.; Lemming, J.F.; Duff, M.F.

    1987-01-01

    Interest has been shown in using fixed-time, servo-controlled calorimetry to shorten the measurement times for certain samples that require low precision values (3 to 5%). This type of calorimeter measurement could be particularly useful for screening scrap samples to determine whether there is a need for a more accurate measurement or for certain confirmatory measurements for which low precision numbers are sufficient. The equipment required for this type of measurement is a servo-controlled calorimeter and a preconditioning unit. Samples to be measured are placed in the preconditioning unit, which is maintained at the internal temperature of the calorimeter. The power value for the sample is determined at a fixed time after loading into the calorimeter, for example, 30 min. When a calorimeter is operated using a fixed cutoff time, there are additional sources of uncertainty that need to be considered. The major factors affecting the uncertainty of the calorimetry power values are discussed. 2 refs., 4 figs

  11. Servo-hydraulic actuator in controllable canonical form: Identification and experimental validation

    Science.gov (United States)

    Maghareh, Amin; Silva, Christian E.; Dyke, Shirley J.

    2018-02-01

    Hydraulic actuators have been widely used to experimentally examine structural behavior at multiple scales. Real-time hybrid simulation (RTHS) is one innovative testing method that largely relies on such servo-hydraulic actuators. In RTHS, interface conditions must be enforced in real time, and controllers are often used to achieve tracking of the desired displacements. Thus, neglecting the dynamics of hydraulic transfer system may result either in system instability or sub-optimal performance. Herein, we propose a nonlinear dynamical model for a servo-hydraulic actuator (a.k.a. hydraulic transfer system) coupled with a nonlinear physical specimen. The nonlinear dynamical model is transformed into controllable canonical form for further tracking control design purposes. Through a number of experiments, the controllable canonical model is validated.

  12. Control Servo-Visual de un Robot Manipulador Planar Basado en Pasividad

    Directory of Open Access Journals (Sweden)

    Carlos Soria

    2008-10-01

    Full Text Available Resumen: En este trabajo se diseña un controlador servo visual basado en la propiedad de pasividad del sistema visual. Se propone un regulador con ganancias de control variables, de tal manera que se evita la saturación de los actuadores y al mismo tiempo presenta la capacidad de corregir errores de pequeña magnitud. Asimismo el diseno se hace tenieñdo en cuenta el desempeño L2, a fin de darle capacidad de seguimiento de objetos en movimiento, con un error de control pequeño. Se muestran resultados experimentales realizados en un robot manipulador industrial tipo planar para verificar el cumplimiento de los objetivos del controlador propuesto. Palabras Clave: robot manipulador industrial, control servo visual, control no lineal, pasividad

  13. Optimality based repetitive controller design for track-following servo system of optical disk drives.

    Science.gov (United States)

    Chen, Wentao; Zhang, Weidong

    2009-10-01

    In an optical disk drive servo system, to attenuate the external periodic disturbances induced by inevitable disk eccentricity, repetitive control has been used successfully. The performance of a repetitive controller greatly depends on the bandwidth of the low-pass filter included in the repetitive controller. However, owing to the plant uncertainty and system stability, it is difficult to maximize the bandwidth of the low-pass filter. In this paper, we propose an optimality based repetitive controller design method for the track-following servo system with norm-bounded uncertainties. By embedding a lead compensator in the repetitive controller, both the system gain at periodic signal's harmonics and the bandwidth of the low-pass filter are greatly increased. The optimal values of the repetitive controller's parameters are obtained by solving two optimization problems. Simulation and experimental results are provided to illustrate the effectiveness of the proposed method.

  14. Application of prediction of equilibrium to servo-controlled calorimetry measurements

    International Nuclear Information System (INIS)

    Mayer, R.L. II.

    1987-01-01

    Research was performed to develop an endpoint prediction algorithm for use with calorimeters operating in the digital servo-controlled mode. The purpose of this work was to reduce calorimetry measurement times while maintaining the high degree of precision and low bias expected from calorimetry measurements. Data from routine operation of two calorimeters were used to test predictive models at each stage of development against time savings, precision, and robustness criteria. The results of the study indicated that calorimetry measurement times can be significantly reduced using this technique. The time savings is, however, dependent on parameters in the digital servo-control algorithm and on packaging characteristics of measured items. 7 refs., 4 figs., 1 tab

  15. Fault detection for discrete-time switched systems with sensor stuck faults and servo inputs.

    Science.gov (United States)

    Zhong, Guang-Xin; Yang, Guang-Hong

    2015-09-01

    This paper addresses the fault detection problem of switched systems with servo inputs and sensor stuck faults. The attention is focused on designing a switching law and its associated fault detection filters (FDFs). The proposed switching law uses only the current states of FDFs, which guarantees the residuals are sensitive to the servo inputs with known frequency ranges in faulty cases and robust against them in fault-free case. Thus, the arbitrarily small sensor stuck faults, including outage faults can be detected in finite-frequency domain. The levels of sensitivity and robustness are measured in terms of the finite-frequency H- index and l2-gain. Finally, the switching law and FDFs are obtained by the solution of a convex optimization problem. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  16. Nonlinear Dynamic Modeling of a Supersonic Commercial Transport Turbo-Machinery Propulsion System for Aero-Propulso-Servo-Elasticity Research

    Science.gov (United States)

    Connolly, Joe; Carlson, Jan-Renee; Kopasakis, George; Woolwine, Kyle

    2015-01-01

    This paper covers the development of an integrated nonlinear dynamic model for a variable cycle turbofan engine, supersonic inlet, and convergent-divergent nozzle that can be integrated with an aeroelastic vehicle model to create an overall Aero-Propulso-Servo-Elastic (APSE) modeling tool. The primary focus of this study is to provide a means to capture relevant thrust dynamics of a full supersonic propulsion system by using relatively simple quasi-one dimensional computational fluid dynamics (CFD) methods that will allow for accurate control algorithm development and capture the key aspects of the thrust to feed into an APSE model. Previously, propulsion system component models have been developed and are used for this study of the fully integrated propulsion system. An overview of the methodology is presented for the modeling of each propulsion component, with a focus on its associated coupling for the overall model. To conduct APSE studies the described dynamic propulsion system model is integrated into a high fidelity CFD model of the full vehicle capable of conducting aero-elastic studies. Dynamic thrust analysis for the quasi-one dimensional dynamic propulsion system model is presented along with an initial three dimensional flow field model of the engine integrated into a supersonic commercial transport.

  17. Image-Based Visual Servoing for Robotic Systems: A Nonlinear Lyapunov-Based Control Approach

    International Nuclear Information System (INIS)

    Dixon, Warren

    2003-01-01

    The objective of this project is to enable current and future EM robots with an increased ability to perceive and interact with unstructured and unknown environments through the use of camera-based visual servo controllers. The scientific goals of this research are to develop a new visual servo control methodology that: (1) adapts for the unknown camera calibration parameters (e.g., focal length, scaling factors, camera position, and orientation) and the physical parameters of the robotic system (e.g., mass, inertia, friction), (2) compensates for unknown depth information (extract 3D information from the 2D image), and (3) enables multi-uncalibrated cameras to be used as a means to provide a larger field-of-view. Nonlinear Lyapunov-based techniques in conjunction with results from projective geometry are being used to overcome the complex control issues and alleviate many of the restrictive assumptions that impact current visual servo controlled robotic systems. The potential relevance of this control methodology will be a plug-and-play visual servoing control module that can be utilized in conjunction with current technology such as feature extraction and recognition, to enable current EM robotic systems with the capabilities of increased accuracy, autonomy, and robustness, with a larger field of view (and hence a larger workspace). These capabilities will enable EM robots to significantly accelerate D and D operations by providing for improved robot autonomy and increased worker productivity, while also reducing the associated costs, removing the human operator from the hazardous environments, and reducing the burden and skill of the human operators

  18. Image-Based Visual Servoing for Robotic Systems: A Nonlinear Lyapunov-Based Control Approach

    International Nuclear Information System (INIS)

    Dixon, Warren

    2002-01-01

    The objective of this project is to enable current and future EM robots with an increased ability to perceive and interact with unstructured and unknown environments through the use of camera-based visual servo controlled robots. The scientific goals of this research are to develop a new visual servo control methodology that: (1) adapts for the unknown camera calibration parameters (e.g., focal length, scaling factors, camera position and orientation) and the physical parameters of the robotic system (e.g., mass, inertia, friction), (2) compensates for unknown depth information (extract 3D information from the 2D image), and (3) enables multi-uncalibrated cameras to be used as a means to provide a larger field-of-view. Nonlinear Lyapunov-based techniques are being used to overcome the complex control issues and alleviate many of the restrictive assumptions that impact current visual servo controlled robotic systems. The potential relevance of this control methodology will be a plug-and-play visual servoing control module that can be utilized in conjunction with current technology such as feature extraction and recognition, to enable current EM robotic systems with the capabilities of increased accuracy, autonomy, and robustness, with a larger field of view (and hence a larger workspace). These capabilities will enable EM robots to significantly accelerate D and D operations by providing for improved robot autonomy and increased worker productivity, while also reducing the associated costs, removing the human operator from the hazardous environments, and reducing the burden and skill of the human operators

  19. Image-Based Visual Servoing for Robotic Systems: A Nonlinear Lyapunov-Based Control Approach

    International Nuclear Information System (INIS)

    Dixon, Warren

    2004-01-01

    There is significant motivation to provide robotic systems with improved autonomy as a means to significantly accelerate deactivation and decommissioning (DandD) operations while also reducing the associated costs, removing human operators from hazardous environments, and reducing the required burden and skill of human operators. To achieve improved autonomy, this project focused on the basic science challenges leading to the development of visual servo controllers. The challenge in developing these controllers is that a camera provides 2-dimensional image information about the 3-dimensional Euclidean-space through a perspective (range dependent) projection that can be corrupted by uncertainty in the camera calibration matrix and by disturbances such as nonlinear radial distortion. Disturbances in this relationship (i.e., corruption in the sensor information) propagate erroneous information to the feedback controller of the robot, leading to potentially unpredictable task execution. This research project focused on the development of a visual servo control methodology that targets compensating for disturbances in the camera model (i.e., camera calibration and the recovery of range information) as a means to achieve predictable response by the robotic system operating in unstructured environments. The fundamental idea is to use nonlinear Lyapunov-based techniques along with photogrammetry methods to overcome the complex control issues and alleviate many of the restrictive assumptions that impact current robotic applications. The outcome of this control methodology is a plug-and-play visual servoing control module that can be utilized in conjunction with current technology such as feature recognition and extraction to enable robotic systems with the capabilities of increased accuracy, autonomy, and robustness, with a larger field of view (and hence a larger workspace). The developed methodology has been reported in numerous peer-reviewed publications and the

  20. Ultrasound image based visual servoing for moving target ablation by high intensity focused ultrasound.

    Science.gov (United States)

    Seo, Joonho; Koizumi, Norihiro; Mitsuishi, Mamoru; Sugita, Naohiko

    2017-12-01

    Although high intensity focused ultrasound (HIFU) is a promising technology for tumor treatment, a moving abdominal target is still a challenge in current HIFU systems. In particular, respiratory-induced organ motion can reduce the treatment efficiency and negatively influence the treatment result. In this research, we present: (1) a methodology for integration of ultrasound (US) image based visual servoing in a HIFU system; and (2) the experimental results obtained using the developed system. In the visual servoing system, target motion is monitored by biplane US imaging and tracked in real time (40 Hz) by registration with a preoperative 3D model. The distance between the target and the current HIFU focal position is calculated in every US frame and a three-axis robot physically compensates for differences. Because simultaneous HIFU irradiation disturbs US target imaging, a sophisticated interlacing strategy was constructed. In the experiments, respiratory-induced organ motion was simulated in a water tank with a linear actuator and kidney-shaped phantom model. Motion compensation with HIFU irradiation was applied to the moving phantom model. Based on the experimental results, visual servoing exhibited a motion compensation accuracy of 1.7 mm (RMS) on average. Moreover, the integrated system could make a spherical HIFU-ablated lesion in the desired position of the respiratory-moving phantom model. We have demonstrated the feasibility of our US image based visual servoing technique in a HIFU system for moving target treatment. © 2016 The Authors The International Journal of Medical Robotics and Computer Assisted Surgery Published by John Wiley & Sons Ltd.

  1. Servo-driven piezo common rail diesel injection system; Servogetriebene Piezo-Common-Rail-Dieseleinspritzung

    Energy Technology Data Exchange (ETDEWEB)

    Schoeppe, Detlev; Stahl, Christian; Krueger, Grit; Dian, Vincent [Continental Automotive GmbH, Regensburg (Germany). Geschaeftsbereich Engine Systems

    2012-03-15

    The requirements to be met by future diesel engines represent major challenges for fuel injection technology: Fuel consumption, emissions and noise development are to be further reduced without impairing driving enjoyment. To address these challenges, Continental has developed a new fuel injection system that features a high level of precision and accuracy. The key component is a servo-driven injector that is operated in a closed control circuit. (orig.)

  2. A servo controlled gradient loading triaxial model test system for deep-buried cavern

    Energy Technology Data Exchange (ETDEWEB)

    Chen, Xu-guang [College of Engineering, Ocean University of China, Qingdao 266100 (China); Shandong Provincial Key Laboratory of Ocean Engineering, Qingdao 266100 (China); Research Center of Geotechnical and Structural Engineering, Shandong University, Jinan 250061 (China); Zhang, Qiang-yong; Li, Shu-cai [Research Center of Geotechnical and Structural Engineering, Shandong University, Jinan 250061 (China)

    2015-10-15

    A servo controlled gradient loading model test system is developed to simulate the gradient geostress in deep-buried cavern. This system consists of the gradient loading apparatus, the digital servo control device, and the measurement system. Among them, the gradient loading apparatus is the main component which is used for exerting load onto the model. This loading apparatus is placed inside the counterforce wall/beam and is divided to several different loading zones, with each loading zone independently controlled. This design enables the gradient loading. Hence, the “real” geostress field surrounding the deep-buried cavern can be simulated. The loading or unloading process can be controlled by the human-computer interaction machines, i.e., the digital servo control system. It realizes the automation and visualization of model loading/unloading. In addition, this digital servo could control and regulate hydraulic loading instantaneously, which stabilizes the geostress onto the model over a long term. During the loading procedure, the collision between two adjacent loading platens is also eliminated by developing a guide frame. This collision phenomenon is induced by the volume shrinkage of the model when compressed in true 3D state. In addition, several accurate measurements, including the optical and grating-based method, are adopted to monitor the small deformation of the model. Hence, the distortion of the model could be accurately measured. In order to validate the performance of this innovative model test system, a 3D geomechanical test was conducted on a simulated deep-buried underground reservoir. The result shows that the radial convergence increases rapidly with the release of the stress in the reservoir. Moreover, the deformation increases with the increase of the gas production rate. This observation is consistence with field observation in petroleum engineering. The system is therefore capable of testing deep-buried engineering structures.

  3. Dynamic modeling and experiment of a new type of parallel servo press considering gravity counterbalance

    Science.gov (United States)

    He, Jun; Gao, Feng; Bai, Yongjun; Wu, Shengfu

    2013-11-01

    The large capacity servo press is traditionally realized by means of redundant actuation, however there exist the over-constraint problem and interference among actuators, which increases the control difficulty and the product cost. A new type of press mechanism with parallel topology is presented to develop the mechanical servo press with high stamping capacity. The dynamic model considering gravity counterbalance is proposed based on the virtual work principle, and then the effect of counterbalance cylinder on the dynamic performance of the servo press is studied. It is found that the motor torque required to operate the press is a lot less than the others when the ratio of the counterbalance force to the gravity of ram is in the vicinity of 1.0. The stamping force of the real press prototype can reach up to 25 MN on the position of 13 mm away from the bottom dead center. The typical deep-drawing process with 1 200 mm stroke at 8 strokes per minute is proposed by means of five order polynomial. On this process condition, the driving torques are calculated based on the above dynamic model and the torque measuring test is also carried out on the prototype. It is shown that the curve trend of calculation torque is consistent to the measured result and that the average error is less than 15%. The parallel mechanism is introduced into the development of large capacity servo press to avoid the over-constraint and interference of traditional redundant actuation, and its dynamic characteristics with gravity counterbalance are presented.

  4. Fault Detection and Severity Analysis of Servo Valves Using Recurrence Quantification Analysis

    Science.gov (United States)

    2014-10-02

    method of false nearest neighbors, we found that the minimum embedding dimension for the system is d=2. Figure 3 shows the recurrence plots of the...manufacturing process planning method for the components of a complex mechatronic system . Applied Mathematical Modelling, 37(24), 9829–9845. Samadani, M...diagnostics of nonlinear systems . A detailed nonlinear math- ematical model of a servo electro-hydraulic system has been used to demonstrate the procedure

  5. New mode switching algorithm for the JPL 70-meter antenna servo controller

    Science.gov (United States)

    Nickerson, J. A.

    1988-01-01

    The design of control mode switching algorithms and logic for JPL's 70 m antenna servo controller are described. The old control mode switching logic was reviewed and perturbation problems were identified. Design approaches for mode switching are presented and the final design is described. Simulations used to compare old and new mode switching algorithms and logic show that the new mode switching techniques will significantly reduce perturbation problems.

  6. Evaluating transient performance of servo mechanisms by analysing stator current of PMSM

    Science.gov (United States)

    Zhang, Qing; Tan, Luyao; Xu, Guanghua

    2018-02-01

    Smooth running and rapid response are the desired performance goals for the transient motions of servo mechanisms. Because of the uncertain and unobservable transient behaviour of servo mechanisms, it is difficult to evaluate their transient performance. Under the effects of electromechanical coupling, the stator current signals of a permanent-magnet synchronous motor (PMSM) potentially contain the performance information regarding servo mechanisms in use. In this paper, a novel method based on analysing the stator current of the PMSM is proposed for quantifying the transient performance. First, a vector control model is constructed to simulate the stator current behaviour in the transient processes of consecutive speed changes, consecutive load changes, and intermittent start-stops. It is discovered that the amplitude and frequency of the stator current are modulated by the transient load torque and motor speed, respectively. The stator currents under different performance conditions are also simulated and compared. Then, the stator current is processed using a local means decomposition (LMD) algorithm to extract the instantaneous amplitude and instantaneous frequency. The sample entropy of the instantaneous amplitude, which reflects the complexity of the load torque variation, is calculated as a performance indicator of smooth running. The peak-to-peak value of the instantaneous frequency, which defines the range of the motor speed variation, is set as a performance indicator of rapid response. The proposed method is applied to both simulated data in an intermittent start-stops process and experimental data measured for a batch of servo turrets for turning lathes. The results show that the performance evaluations agree with the actual performance.

  7. A new state space model for the NASA/JPL 70-meter antenna servo controls

    Science.gov (United States)

    Hill, R. E.

    1987-01-01

    A control axis referenced model of the NASA/JPL 70-m antenna structure is combined with the dynamic equations of servo components to produce a comprehansive state variable (matrix) model of the coupled system. An interactive Fortran program for generating the linear system model and computing its salient parameters is described. Results are produced in a state variable, block diagram, and in factored transfer function forms to facilitate design and analysis by classical as well as modern control methods.

  8. A servo controlled gradient loading triaxial model test system for deep-buried cavern.

    Science.gov (United States)

    Chen, Xu-guang; Zhang, Qiang-yong; Li, Shu-cai

    2015-10-01

    A servo controlled gradient loading model test system is developed to simulate the gradient geostress in deep-buried cavern. This system consists of the gradient loading apparatus, the digital servo control device, and the measurement system. Among them, the gradient loading apparatus is the main component which is used for exerting load onto the model. This loading apparatus is placed inside the counterforce wall/beam and is divided to several different loading zones, with each loading zone independently controlled. This design enables the gradient loading. Hence, the "real" geostress field surrounding the deep-buried cavern can be simulated. The loading or unloading process can be controlled by the human-computer interaction machines, i.e., the digital servo control system. It realizes the automation and visualization of model loading/unloading. In addition, this digital servo could control and regulate hydraulic loading instantaneously, which stabilizes the geostress onto the model over a long term. During the loading procedure, the collision between two adjacent loading platens is also eliminated by developing a guide frame. This collision phenomenon is induced by the volume shrinkage of the model when compressed in true 3D state. In addition, several accurate measurements, including the optical and grating-based method, are adopted to monitor the small deformation of the model. Hence, the distortion of the model could be accurately measured. In order to validate the performance of this innovative model test system, a 3D geomechanical test was conducted on a simulated deep-buried underground reservoir. The result shows that the radial convergence increases rapidly with the release of the stress in the reservoir. Moreover, the deformation increases with the increase of the gas production rate. This observation is consistence with field observation in petroleum engineering. The system is therefore capable of testing deep-buried engineering structures.

  9. Reconfigurable Flight Control Design using a Robust Servo LQR and Radial Basis Function Neural Networks

    Science.gov (United States)

    Burken, John J.

    2005-01-01

    This viewgraph presentation reviews the use of a Robust Servo Linear Quadratic Regulator (LQR) and a Radial Basis Function (RBF) Neural Network in reconfigurable flight control designs in adaptation to a aircraft part failure. The method uses a robust LQR servomechanism design with model Reference adaptive control, and RBF neural networks. During the failure the LQR servomechanism behaved well, and using the neural networks improved the tracking.

  10. A servo controlled gradient loading triaxial model test system for deep-buried cavern

    International Nuclear Information System (INIS)

    Chen, Xu-guang; Zhang, Qiang-yong; Li, Shu-cai

    2015-01-01

    A servo controlled gradient loading model test system is developed to simulate the gradient geostress in deep-buried cavern. This system consists of the gradient loading apparatus, the digital servo control device, and the measurement system. Among them, the gradient loading apparatus is the main component which is used for exerting load onto the model. This loading apparatus is placed inside the counterforce wall/beam and is divided to several different loading zones, with each loading zone independently controlled. This design enables the gradient loading. Hence, the “real” geostress field surrounding the deep-buried cavern can be simulated. The loading or unloading process can be controlled by the human-computer interaction machines, i.e., the digital servo control system. It realizes the automation and visualization of model loading/unloading. In addition, this digital servo could control and regulate hydraulic loading instantaneously, which stabilizes the geostress onto the model over a long term. During the loading procedure, the collision between two adjacent loading platens is also eliminated by developing a guide frame. This collision phenomenon is induced by the volume shrinkage of the model when compressed in true 3D state. In addition, several accurate measurements, including the optical and grating-based method, are adopted to monitor the small deformation of the model. Hence, the distortion of the model could be accurately measured. In order to validate the performance of this innovative model test system, a 3D geomechanical test was conducted on a simulated deep-buried underground reservoir. The result shows that the radial convergence increases rapidly with the release of the stress in the reservoir. Moreover, the deformation increases with the increase of the gas production rate. This observation is consistence with field observation in petroleum engineering. The system is therefore capable of testing deep-buried engineering structures

  11. Analysis of High Speed Jets Produced by a Servo Tube Driven Liquid Jet Injector

    Science.gov (United States)

    Portaro, Rocco; Ng, Hoi Dick

    2017-11-01

    In today's healthcare environment many types of medication must be administered through the use of hypodermic needles. Although this practice has been in use for many years, drawbacks such as accidental needle stick injuries, transmission of deadly viruses and bio-hazardous waste are still present. This study focuses on improving a needle free technology known as liquid jet injection, through the implementation of a linear servo tube actuator for the construction of a fully closed loop liquid jet injection system. This device has the ability to deliver both micro- and macro- molecules, high viscosity fluids whilst providing real time control of the jet pressure profile for accurate depth and dispersion control. The experiments are conducted using a prototype that consists of a 3 kW servo tube actuator, coupled to a specially designed injection head allowing nozzle size and injection volume to be varied. The device is controlled via a high speed servo amplifier and FPGA. The high speed jets emanating from the injector are assessed via high speed photography and through the use of a force transducer. Preliminary results indicate that the system allows for accurate shaping of the jet pressure profile, making it possible to target different tissue depths/types accurately.

  12. A low-cost, FPGA-based servo controller with lock-in amplifier

    International Nuclear Information System (INIS)

    Yang, G; Barry, J F; Shuman, E S; Steinecker, M H; DeMille, D

    2012-01-01

    We describe the design and implementation of a low-cost, FPGA-based servo controller with an integrated waveform synthesizer and lock-in amplifier. This system has been designed with the specific application of laser frequency locking in mind but should be adaptable to a variety of other purposes as well. The system incorporates an onboard waveform synthesizer, a lock-in amplifier, two channels of proportional-integral (PI) servo control, and a ramp generator on a single FPGA chip. The system is based on an inexpensive, off-the-shelf FPGA evaluation board with a wide variety of available accessories, allowing the system to interface with standard laser controllers and detectors while minimizing the use of custom hardware and electronics. Gains, filter constants, and other relevant parameters are adjustable via onboard knobs and switches. These parameters and other information are displayed to the user via an integrated LCD, allowing full operation of the device without an accompanying computer. We demonstrate the performance of the system in a test setup, in which the frequency of a tunable external-cavity diode laser (ECDL) is locked to a resonant optical transmission peak of a Fabry-Perot cavity. In this setup, we achieve a total servo-loop bandwidth of ∼ 7 kHz and achieve locking of the ECDL to the cavity with a full-width-at-half-maximum (FWHM) linewidth of ∼ 200 kHz.

  13. Servo-control of water and sodium homeostasis during renal clearance measurements in conscious rats.

    Science.gov (United States)

    Thomsen, Klaus; Shirley, David G

    2007-01-01

    Servo-controlled fluid and sodium replacement during clearance studies is used in order to prevent loss of body fluid and sodium following diuretic/natriuretic procedures. However, even under control conditions, the use of this technique is sometimes associated with increases in proximal tubular fluid output (assessed by lithium clearance) and excretion rates. The present study examined the reason for these increases. The first series of experiments showed that one cause is volume overloading. This can occur if the servo system is activated from the start, i.e., during the establishment of a suitably high urine flow rate by constant infusion of hypotonic glucose solution. The second series of experiments showed that replacement of blood samples with donor blood can also lead to increases in fractional lithium excretion and accompanying increases in water and sodium excretion, a problem not seen when blood samples are replaced with the animal's own red blood cells resuspended in isotonic saline. When these pitfalls are avoided, servo-controlled sodium and fluid replacement is a reliable technique that makes it possible to study the effects of natriuretic and/or diuretic stimuli without interference from unwanted changes in extracellular volume. 2007 S. Karger AG, Basel

  14. Novel AC Servo Rotating and Linear Composite Driving Device for Plastic Forming Equipment

    Science.gov (United States)

    Liang, Jin-Tao; Zhao, Sheng-Dun; Li, Yong-Yi; Zhu, Mu-Zhi

    2017-07-01

    The existing plastic forming equipment are mostly driven by traditional AC motors with long transmission chains, low efficiency, large size, low precision and poor dynamic response are the common disadvantages. In order to realize high performance forming processes, the driving device should be improved, especially for complicated processing motions. Based on electric servo direct drive technology, a novel AC servo rotating and linear composite driving device is proposed, which features implementing both spindle rotation and feed motion without transmission, so that compact structure and precise control can be achieved. Flux switching topology is employed in the rotating drive component for strong robustness, and fractional slot is employed in the linear direct drive component for large force capability. Then the mechanical structure for compositing rotation and linear motion is designed. A device prototype is manufactured, machining of each component and the whole assembly are presented respectively. Commercial servo amplifiers are utilized to construct the control system of the proposed device. To validate the effectiveness of the proposed composite driving device, experimental study on the dynamic test benches are conducted. The results indicate that the output torque can attain to 420 N·m and the dynamic tracking errors are less than about 0.3 rad in the rotating drive. the dynamic tracking errors are less than about 1.6 mm in the linear feed. The proposed research provides a method to construct high efficiency and accuracy direct driving device in plastic forming equipment.

  15. Fault Diagnosis for Hydraulic Servo System Using Compressed Random Subspace Based ReliefF

    Directory of Open Access Journals (Sweden)

    Yu Ding

    2018-01-01

    Full Text Available Playing an important role in electromechanical systems, hydraulic servo system is crucial to mechanical systems like engineering machinery, metallurgical machinery, ships, and other equipment. Fault diagnosis based on monitoring and sensory signals plays an important role in avoiding catastrophic accidents and enormous economic losses. This study presents a fault diagnosis scheme for hydraulic servo system using compressed random subspace based ReliefF (CRSR method. From the point of view of feature selection, the scheme utilizes CRSR method to determine the most stable feature combination that contains the most adequate information simultaneously. Based on the feature selection structure of ReliefF, CRSR employs feature integration rules in the compressed domain. Meanwhile, CRSR substitutes information entropy and fuzzy membership for traditional distance measurement index. The proposed CRSR method is able to enhance the robustness of the feature information against interference while selecting the feature combination with balanced information expressing ability. To demonstrate the effectiveness of the proposed CRSR method, a hydraulic servo system joint simulation model is constructed by HyPneu and Simulink, and three fault modes are injected to generate the validation data.

  16. Verification of the New FAST v8 Capabilities for the Modeling of Fixed-Bottom Offshore Wind Turbines: Preprint

    Energy Technology Data Exchange (ETDEWEB)

    Barahona, B.; Jonkman, J.; Damiani, R.; Robertson, A.; Hayman, G.

    2014-12-01

    Coupled dynamic analysis has an important role in the design of offshore wind turbines because the systems are subject to complex operating conditions from the combined action of waves and wind. The aero-hydro-servo-elastic tool FAST v8 is framed in a novel modularization scheme that facilitates such analysis. Here, we present the verification of new capabilities of FAST v8 to model fixed-bottom offshore wind turbines. We analyze a series of load cases with both wind and wave loads and compare the results against those from the previous international code comparison projects-the International Energy Agency (IEA) Wind Task 23 Subtask 2 Offshore Code Comparison Collaboration (OC3) and the IEA Wind Task 30 OC3 Continued (OC4) projects. The verification is performed using the NREL 5-MW reference turbine supported by monopile, tripod, and jacket substructures. The substructure structural-dynamics models are built within the new SubDyn module of FAST v8, which uses a linear finite-element beam model with Craig-Bampton dynamic system reduction. This allows the modal properties of the substructure to be synthesized and coupled to hydrodynamic loads and tower dynamics. The hydrodynamic loads are calculated using a new strip theory approach for multimember substructures in the updated HydroDyn module of FAST v8. These modules are linked to the rest of FAST through the new coupling scheme involving mapping between module-independent spatial discretizations and a numerically rigorous implicit solver. The results show that the new structural dynamics, hydrodynamics, and coupled solutions compare well to the results from the previous code comparison projects.

  17. Do persistently fast-growing juveniles contribute disproportionately to population growth? A new analysis tool for matrix models and its application to rainforest trees.

    Science.gov (United States)

    Zuidema, Pieter A; Brienen, Roel J W; During, Heinjo J; Güneralp, Burak

    2009-11-01

    Plants and animals often exhibit strong and persistent growth variation among individuals within a species. Persistently fast-growing individuals have a higher chance of reaching reproductive size, do so at a younger age, and therefore contribute disproportionately to population growth (lambda). Here we introduce a new approach to quantify this "fast-growth effect." We propose using age-size-structured matrix models in which persistently fast and slow growers are distinguished as they occur in relatively young and old age classes for a given size category. Life-cycle pathways involving fast growth can then be identified, and their contribution to lambda is quantified through loop analysis. We applied this approach to an example species, the tropical rainforest tree Cedrela odorata, that shows persistent growth variation among individuals. Loop analysis showed that juvenile trees reaching the 10-cm diameter class at below-median age contributed twice as much to lambda as slow juvenile growers. Fast growth to larger-diameter categories also contributed disproportionately to lambda. The results were robust to changes in parameter values and life-history trade-offs. These results show that the fast-growth effect can be strong in long-lived species. Persistent growth differences among individuals should therefore be accommodated for in demographic models and life-history studies.

  18. Project calculation of the steering mechanism hydraulic servo control in motor vehicles

    Directory of Open Access Journals (Sweden)

    Zoran Đukan Majkić

    2013-10-01

    Full Text Available Hydraulic servo controls are designed to facilitate rotation in place without providing increased ppower to steering wheels. In the initial design phase, the dimensions required for control systems are usually obtained through the calculation of their load when wheels rotate in place, where the torque is calculated empirically. The starting point in the project calculation is thus to determine the hydraulic power steering torque torsional resistance which is then used to determine the maximum value of force i.e. the torque on the stering wheel. The calculation of the control system servo control consists of determining the basic parameters, the required pump capacity, the main dimensions of the hub and the  pipeline and the conditions for the stability of the system control mechanism. Introduction The aim of the calculation of the steering control system is to determine the basic parameters of its components which ensure the fulfilment of requirements of the control system. Calculations are performed in several stages with a simultaneous  detailed constructive analysis of the control system leading to the best variant. At each stage, design and control calculations of the hydraulic servo of the steering mechanism are performed. The design allows the computation to complete the selection of basic dimensions of the amplifer elements, starting from the approved scheme and the basic building loads of approximate values. Calculations control is carried out to clarify the structural solution and to obtain the output characteristics of the control amplifier which are applied in the  estimation of  potential properties of the structure. Project calculation Baseline data must be sufficiently reliable, ie. must correspond to the construction characteristics of the vehicle design and the control system as well as to service conditions..A proper deterimination of the torque calculation of torsional resistance in wheels is of utmost importance. Moment of

  19. Two-dimensional laser servoing for precision motion control of an ODV robotic license plate recognition system

    Science.gov (United States)

    Song, Zhen; Moore, Kevin L.; Chen, YangQuan; Bahl, Vikas

    2003-09-01

    As an outgrowth of series of projects focused on mobility of unmanned ground vehicles (UGV), an omni-directional (ODV), multi-robot, autonomous mobile parking security system has been developed. The system has two types of robots: the low-profile Omni-Directional Inspection System (ODIS), which can be used for under-vehicle inspections, and the mid-sized T4 robot, which serves as a ``marsupial mothership'' for the ODIS vehicles and performs coarse resolution inspection. A key task for the T4 robot is license plate recognition (LPR). For a successful LPR task without compromising the recognition rate, the robot must be able to identify the bumper locations of vehicles in the parking area and then precisely position the LPR camera relative to the bumper. This paper describes a 2D-laser scanner based approach to bumper identification and laser servoing for the T4 robot. The system uses a gimbal-mounted scanning laser. As the T4 robot travels down a row of parking stalls, data is collected from the laser every 100ms. For each parking stall in the range of the laser during the scan, the data is matched to a ``bumper box'' corresponding to where a car bumper is expected, resulting in a point cloud of data corresponding to a vehicle bumper for each stall. Next, recursive line-fitting algorithms are used to determine a line for the data in each stall's ``bumper box.'' The fitting technique uses Hough based transforms, which are robust against segmentation problems and fast enough for real-time line fitting. Once a bumper line is fitted with an acceptable confidence, the bumper location is passed to the T4 motion controller, which moves to position the LPR camera properly relative to the bumper. The paper includes examples and results that show the effectiveness of the technique, including its ability to work in real-time.

  20. Robotic Label Applicator: Design, Development and Visual Servoing Based Control

    Directory of Open Access Journals (Sweden)

    Lin Chyi-Yeu

    2016-01-01

    Full Text Available Use of robotic arms and computer vision in manufacture, and assembly process are getting more interest as flexible customization is becoming priority over mass production as frontier industry practice. In this paper an innovative label applicator as end of arm tooling (EOAT capable of dispensing and applying label stickers of various dimensions to a product is designed, fabricated and tested. The system incorporates a label dispenserapplicator and had eye-in-hand camera system, attached to 6-dof robot arm can autonomously apply a label sticker to the target position on a randomly placed product. Employing multiple advantages from different knowledge basis, mechanism design and vision based automatic control, offers this system distinctive efficiency as well as flexibility to change in manufacturing and assembly process with time and cost saving.

  1. Aero-servo-viscoelasticity theory: Lifting surfaces, plates, velocity transients, flutter, and instability

    Science.gov (United States)

    Merrett, Craig G.

    Modern flight vehicles are fabricated from composite materials resulting in flexible structures that behave differently from the more traditional elastic metal structures. Composite materials offer a number of advantages compared to metals, such as improved strength to mass ratio, and intentional material property anisotropy. Flexible aircraft structures date from the Wright brothers' first aircraft with fabric covered wooden frames. The flexibility of the structure was used to warp the lifting surface for flight control, a concept that has reappeared as aircraft morphing. These early structures occasionally exhibited undesirable characteristics during flight such as interactions between the empennage and the aft fuselage, or control problems with the elevators. The research to discover the cause and correction of these undesirable characteristics formed the first foray into the field of aeroelasticity. Aeroelasticity is the intersection and interaction between aerodynamics, elasticity, and inertia or dynamics. Aeroelasticity is well suited for metal aircraft, but requires expansion to improve its applicability to composite vehicles. The first is a change from elasticity to viscoelasticity to more accurately capture the solid mechanics of the composite material. The second change is to include control systems. While the inclusion of control systems in aeroelasticity lead to aero-servo-elasticity, more control possibilities exist for a viscoelastic composite material. As an example, during the lay-up of carbon-epoxy plies, piezoelectric control patches are inserted between different plies to give a variety of control options. The expanded field is called aero-servo-viscoelasticity. The phenomena of interest in aero-servo-viscoelasticity are best classified according to the type of structure considered, either a lifting surface or a panel, and the type of dynamic stability present. For both types of structures, the governing equations are integral

  2. AeroPropulsoServoElasticity: Dynamic Modeling of the Variable Cycle Propulsion System

    Science.gov (United States)

    Kopasakis, George

    2012-01-01

    This presentation was made at the 2012 Fundamental Aeronautics Program Technical Conference and it covers research work for the Dynamic Modeling of the Variable cycle Propulsion System that was done under the Supersonics Project, in the area of AeroPropulsoServoElasticity. The presentation covers the objective for the propulsion system dynamic modeling work, followed by the work that has been done so far to model the variable Cycle Engine, modeling of the inlet, the nozzle, the modeling that has been done to model the affects of flow distortion, and finally presenting some concluding remarks and future plans.

  3. Servo-elastic dynamics of a hydraulic actuator pitching a blade with large deflections

    DEFF Research Database (Denmark)

    Hansen, Morten Hartvig; Kallesøe, Bjarne Skovmose

    2007-01-01

    This paper deals with the servo-elastic dynamics of a hydraulic pitch actuator acting on a largely bend wind turbine blade. The compressibility of the oil and flexibility of the hoses introduce a dynamic mode in the pitch bearing degree of freedom. This mode may obtain negative damping...... if the proportional gain on the actuator position error is defined too large relative to the viscous forces in the hydraulic system and the total rotational inertia of the pitch bearing degree of freedom. A simple expression for the stability limit of this proportional gain is derived for tuning the gain based...

  4. Using Feedback Error Learning for Control of Electro Hydraulic Servo System by Laguerre

    Directory of Open Access Journals (Sweden)

    Amir Reza Zare Bidaki

    2014-01-01

    Full Text Available In this paper, a new Laguerre controller is proposed to control the electro hydraulic servo system. The proposed controller uses feedback error learning method and leads to significantly improve performance in terms of settling time and amplitude of control signal rather than other controllers. All derived results are validated by simulation of nonlinear mathematical model of the system. The simulation results show the advantages of the proposed method for improved control in terms of both settling time and amplitude of control signal.

  5. A Simulation Model of Focus and Radial Servos in Compact Disc Players with Disc Surface Defects

    DEFF Research Database (Denmark)

    Odgaard, Peter Fogh; Stoustrup, Jakob; Andersen, Palle

    2004-01-01

    Compact Disc players have been on the market in more than two decades.As a consequence most of the control servo problems have been solved. A large remaining problem to solve is the handling of Compact Discs with severe surface defects like scratches and fingerprints. This paper introduces a method...... for making the design of controllers handling surface defects easier. A simulation model of Compact Disc players playing discs with surface defects is presented. The main novel element in the model is a model of the surface defects. That model is based on data from discs with surface defects. This model...

  6. L1 adaptive control of uncertain gear transmission servo systems with deadzone nonlinearity.

    Science.gov (United States)

    Zuo, Zongyu; Li, Xiao; Shi, Zhiguang

    2015-09-01

    This paper deals with the adaptive control problem of Gear Transmission Servo (GTS) systems in the presence of unknown deadzone nonlinearity and viscous friction. A global differential homeomorphism based on a novel differentiable deadzone model is proposed first. Since there exist both matched and unmatched state-dependent unknown nonlinearities, a full-state feedback L1 adaptive controller is constructed to achieve uniformly bounded transient response in addition to steady-state performance. Finally, simulation results are included to show the elimination of limit cycles, in addition to demonstrating the main results in this paper. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  7. Servo-control for maintaining abdominal skin temperature at 36C in low birth weight infants.

    Science.gov (United States)

    Sinclair, J C

    2002-01-01

    Randomized trials have shown that the neonatal mortality rate of low birth-weight babies can be reduced by keeping them warm. For low birth-weight babies nursed in incubators, warm conditions may be achieved either by heating the air to a desired temperature, or by servo-controlling the baby's body temperature at a desired set-point. In low birth weight infants, to determine the effect on death and other important clinical outcomes of targeting body temperature rather than air temperature as the end-point of control of incubator heating. Standard search strategy of the Cochrane Neonatal Review Group. Searches were made of the Cochrane Controlled Trials Register (CCTR) (Cochrane Library, Issue 4, 2001) and MEDLINE, 1966 to November 2001. Randomized or quasi-randomized trials which test the effects of having the heat output of the incubator servo-controlled from body temperature compared with setting a constant incubator air temperature. Trial methodologic quality was systematically assessed. Outcome measures included death, timing of death, cause of death, and other clinical outcomes. Categorical outcomes were analyzed using relative risk and risk difference. Meta-analysis assumed a fixed effect model. Two eligible trials were found. In total, they included 283 babies and 112 deaths. Compared to setting a constant incubator air temperature of 31.8C, servo-control of abdominal skin temperature at 36C reduces the neonatal death rate among low birth weight infants: relative risk 0.72 (95% CI 0.54, 0.97); risk difference -12.7% (95% CI -1.6, -23.9). This effect is even greater among VLBW infants. During at least the first week after birth, low birth weight babies should be provided with a carefully regulated thermal environment that is near the thermoneutral point. For LBW babies in incubators, this can be achieved by adjusting incubator temperature to maintain an anterior abdominal skin temperature of at least 36C, using either servo-control or frequent manual

  8. An ultrasonic sensor controller for mapping and servo control in robotic systems

    International Nuclear Information System (INIS)

    Drotning, W.D.; Garcia, P. Jr.

    1993-03-01

    An ultrasonic sensor controller has been developed and applied in a variety of robotic systems for operation in hazardous environments. The controller consists of hardware and software that control multiple ultrasonic range sensors and provide workspace information to robot controllers for rapid, safe, and reliable operation in hazardous and remote environments. The hardware consists of a programmable multichannel controller that resides on a VMEbus for high speed communication to a multiprocessor architecture. The sensor controller has been used in a number of applications, which include providing high precision range information for proximity servo control of robots, and performing surface and obstacle mapping functions for safe path planning of robots in unstructured environments

  9. Smart Rotor Modeling: Aero-Servo-Elastic Modeling of a Smart Rotor with Adaptive Trailing Edge Flaps

    DEFF Research Database (Denmark)

    Bergami, Leonardo

    the trailing edge flap deflection to actively reduce the fatigue loads on the structure. The performance of the smart rotor configuration and its control algorithms are finally quantified by aero-servo-elastic simulations of the smart rotor turbine operating in a standard turbulent wind field.......This book presents the formulation of an aero-servo-elastic model for a wind turbine rotor equipped with Adaptive Trailing Edge Flaps (ATEF), a smart rotor configuration. As the name suggests, an aero-servo-elastic model consists of three main components: an aerodynamic model, a structural model......, and a control model. The book first presents an engineering type of aerodynamic model that accounts for the dynamic effects of flap deflection. The aerodynamic model is implemented in a Blade Element Momentum framework, and coupled with a multi-body structural model in the aero-servoelastic simulation code HAWC...

  10. A Novel Rotor and Stator Magnetic Fields Direct-Orthogonalized Vector Control Scheme for the PMSM Servo System

    Directory of Open Access Journals (Sweden)

    Shi-Xiong Zhang

    2014-02-01

    Full Text Available Permanent Magnet Synchronous motor (PMSM has received widespread acceptance in recent years. In this paper, a new rotor and stator Magnetic Fields Direct-Orthogonalized Vector Control (MFDOVC scheme is proposed for PMSM servo system. This method simplified the complex calculation of traditional vector control, a part of the system resource is economized. At the same time, through the simulation illustration validation, the performance of PMSM servo system with the proposed MFDOVC scheme can achieve the same with the complex traditional vector control method, but much simpler calculation is implemented using the proposed method.

  11. Use of a novel drainage flow servo-controlled CPB for mitral valve replacement in a Jehovah's Witness.

    Science.gov (United States)

    Niimi, Yoshinari; Murata, Seiichiro; Mitou, Yumi; Ohno, Yusuke

    2018-03-01

    We developed a novel open cardiopulmonary bypass (CPB) system, a drainage flow servo-controlled CPB system (DS-CPB), in which rotational speed of the main roller pump is servo-controlled to generate the same amount of flow as the systemic venous drainage. It was designed to safely decrease the priming volume while maintaining a constant reservoir level, even during fluctuations of the drainage flow. We report a successful use of a novel DS-CPB system in an elderly Jehovah's Witness patient with dehydration who underwent mitral valve replacement.

  12. Development of an EtherCAT enabled digital servo controller for the Green Bank Telescope

    Science.gov (United States)

    Whiteis, Peter G.; Mello, Melinda J.

    2012-09-01

    EtherCAT (Ethernet for Control Automation Technology) is gaining wide spread popularity in the automation industry as a real time field bus based on low cost, Ethernet hardware. EtherCAT maximizes use of 100Mbps Ethernet hardware by using a collision free ring topology, efficient Ethernet frame utilization (> 95%), and data exchange "on the fly". These characteristics enable EtherCAT to achieve Master to Slave node data exchange rates of > 1000 Hz. The Green Bank Telescope, commissioned in 2000, utilizes an analog control system for motion control of 8 elevation and 16 azimuth motors. This architecture, while sufficient for observations at frequencies up to 50GHz, has significant limitations for the current scientific goals of observing at 115GHz. Accordingly, the Green Bank staff has embarked on a servo upgrade project to develop a digital servo system which accommodates development and implementation of advanced control algorithms. This paper describes how the new control system requirements, use of existing infrastructure and budget constraints led us to define a distributed motion control architecture where EtherCAT real-time Ethernet was selected as the communication bus. Finally, design details are provided that describe how NRAO developed a custom EtherCAT-enabled motor controller interface for the GBT's legacy motor drives in order to provide technical benefits and flexibility not available in commercial products.

  13. Finite-time tracking control for multiple non-holonomic mobile robots based on visual servoing

    Science.gov (United States)

    Ou, Meiying; Li, Shihua; Wang, Chaoli

    2013-12-01

    This paper investigates finite-time tracking control problem of multiple non-holonomic mobile robots via visual servoing. It is assumed that the pinhole camera is fixed to the ceiling, and camera parameters are unknown. The desired reference trajectory is represented by a virtual leader whose states are available to only a subset of the followers, and the followers have only interaction. First, the camera-objective visual kinematic model is introduced by utilising the pinhole camera model for each mobile robot. Second, a unified tracking error system between camera-objective visual servoing model and desired reference trajectory is introduced. Third, based on the neighbour rule and by using finite-time control method, continuous distributed cooperative finite-time tracking control laws are designed for each mobile robot with unknown camera parameters, where the communication topology among the multiple mobile robots is assumed to be a directed graph. Rigorous proof shows that the group of mobile robots converges to the desired reference trajectory in finite time. Simulation example illustrates the effectiveness of our method.

  14. Dynamic parameter identification of robot arms with servo-controlled electrical motors

    Science.gov (United States)

    Jiang, Zhao-Hui; Senda, Hiroshi

    2005-12-01

    This paper addresses the issue of dynamic parameter identification of the robot manipulator with servo-controlled electrical motors. An assumption is made that all kinematical parameters, such as link lengths, are known, and only dynamic parameters containing mass, moment of inertia, and their functions need to be identified. First, we derive dynamics of the robot arm with a linear form of the unknown dynamic parameters by taking dynamic characteristics of the motor and servo unit into consideration. Then, we implement the parameter identification approach to identify the unknown parameters with respect to individual link separately. A pseudo-inverse matrix is used for formulation of the parameter identification. The optimal solution is guaranteed in a sense of least-squares of the mean errors. A Direct Drive (DD) SCARA type industrial robot arm AdeptOne is used as an application example of the parameter identification. Simulations and experiments for both open loop and close loop controls are carried out. Comparison of the results confirms the correctness and usefulness of the parameter identification and the derived dynamic model.

  15. Development of a Control System for PRIDE Remote Servo-manipulator

    International Nuclear Information System (INIS)

    Lee, Jong Kwang; Park, Byung Suk; Lee, Hyo Jik; Kim, Kyung Tae; Kim, Sung Hyun; Park, Hee Sung; Kim, Young Hwan; Jung, Jae Hoo; Kim, Ki Ho; Kim, Ho Dong

    2009-12-01

    KAERI is developing the PRIDE(PyRoprocess Integrated inactive DEmonstration) facility to verify the integrated performance of full Pyroprocess flow. A main process cell in the PRIDE facility will be filled with argon gas which prohibits direct access by human operators. Therefore, all the operation and maintenance of the process equipment is performed remotely through a master-slave manipulation. This research focuses on the design, fabrication, and interface of a control system which integrates several hardware systems such as a dual arm master-slave servo-manipulator, a horizontally moving transporter for a master manipulator, a bridge transporter for a slave manipulator, a chain hoist, camera systems and their display system, a manual console, and a pendant, etc. Also, a bilateral force-reflection controller considering an elasticity and vibration modes of wire cable has been developed for master-slave remote manipulation. The results obtained in this study will be applied for the force-reflection control of the bridge-transported master-slave servo-manipulator system for use in the PRIDE facility. Since this research is an essential work in robotics related fields, the results would be widely used for developing power manipulators and process automation equipment

  16. SYNTHESIS OF THE SERVO DRIVER WITH SPEED LOOP TUNED AT THE MODULAR OPTIMUM

    Directory of Open Access Journals (Sweden)

    Mr. Sergei V. Stelmashchuk

    2016-12-01

    Full Text Available The paper presents a method of synthesis of servo driver for controlling the speed of the object with the speed tuned at the modular optimum. An automatic electric motor drive is considered as the controlled element. This assumes the use of the speed sensor on the output shaft of the drive gear. This approach can be used for geared motors, which are more commonly used in a variety of compact drives. The technique is based on the method of synthesis by using logarithmic frequency response (LFR. The result is a synthesis of the two tracking angle controllers: proportional-integral and proportional-derivative (PIPD regulator. The criterion for the synthesis of tracking angle controller is the desired LFR, the characteristics of which are defined based on saturated capability transition function of controlled object with standard configuration for modular optimum. It is assumed that the maximum speed and acceleration of the transition functions are required for the synthesis of parameters of servo driver system by LFR. The article covers the accuracy and contains an example of a particular electric motor.

  17. Visual Servoing for an Autonomous Hexarotor Using a Neural Network Based PID Controller

    Science.gov (United States)

    Lopez-Franco, Carlos; Alanis, Alma Y.; Arana-Daniel, Nancy; Villaseñor, Carlos

    2017-01-01

    In recent years, unmanned aerial vehicles (UAVs) have gained significant attention. However, we face two major drawbacks when working with UAVs: high nonlinearities and unknown position in 3D space since it is not provided with on-board sensors that can measure its position with respect to a global coordinate system. In this paper, we present a real-time implementation of a servo control, integrating vision sensors, with a neural proportional integral derivative (PID), in order to develop an hexarotor image based visual servo control (IBVS) that knows the position of the robot by using a velocity vector as a reference to control the hexarotor position. This integration requires a tight coordination between control algorithms, models of the system to be controlled, sensors, hardware and software platforms and well-defined interfaces, to allow the real-time implementation, as well as the design of different processing stages with their respective communication architecture. All of these issues and others provoke the idea that real-time implementations can be considered as a difficult task. For the purpose of showing the effectiveness of the sensor integration and control algorithm to address these issues on a high nonlinear system with noisy sensors as cameras, experiments were performed on the Asctec Firefly on-board computer, including both simulation and experimenta results. PMID:28805689

  18. Visual Servoing for an Autonomous Hexarotor Using a Neural Network Based PID Controller.

    Science.gov (United States)

    Lopez-Franco, Carlos; Gomez-Avila, Javier; Alanis, Alma Y; Arana-Daniel, Nancy; Villaseñor, Carlos

    2017-08-12

    In recent years, unmanned aerial vehicles (UAVs) have gained significant attention. However, we face two major drawbacks when working with UAVs: high nonlinearities and unknown position in 3D space since it is not provided with on-board sensors that can measure its position with respect to a global coordinate system. In this paper, we present a real-time implementation of a servo control, integrating vision sensors, with a neural proportional integral derivative (PID), in order to develop an hexarotor image based visual servo control (IBVS) that knows the position of the robot by using a velocity vector as a reference to control the hexarotor position. This integration requires a tight coordination between control algorithms, models of the system to be controlled, sensors, hardware and software platforms and well-defined interfaces, to allow the real-time implementation, as well as the design of different processing stages with their respective communication architecture. All of these issues and others provoke the idea that real-time implementations can be considered as a difficult task. For the purpose of showing the effectiveness of the sensor integration and control algorithm to address these issues on a high nonlinear system with noisy sensors as cameras, experiments were performed on the Asctec Firefly on-board computer, including both simulation and experimenta results.

  19. Design of an Image-Servo Mask Alignment System Using Dual CCDs with an XXY Stage

    Directory of Open Access Journals (Sweden)

    Chih-Jer Lin

    2016-02-01

    Full Text Available Mask alignment of photolithography technology is used in many applications, such as micro electro mechanical systems’ semiconductor process, printed circuits board, and flat panel display. As the dimensions of the product are getting smaller and smaller, the automatic mask alignment of photolithography is becoming more and more important. The traditional stacked XY-Θz stage is heavy and it has cumulative flatness errors due to its stacked assembly mechanism. The XXY stage has smaller cumulative error due to its coplanar design and it can move faster than the traditional XY-Θz stage. However, the relationship between the XXY stage’s movement and the commands of the three motors is difficult to compute, because the movements of the three motors on the same plane are coupling. Therefore, an artificial neural network is studied to establish a nonlinear mapping from the desired position and orientation of the stage to three motors’ commands. Further, this paper proposes an image-servo automatic mask alignment system, which consists of a coplanar XXY stage, dual GIGA-E CCDs with lens and a programmable automatic controller (PAC. Before preforming the compensation, a self-developed visual-servo provides the positioning information which is obtained from the image processing and pattern recognition according to the specified fiducial marks. To obtain better precision, two methods including the center of gravity method and the generalize Hough Transformation are studied to correct the shift positioning error.

  20. Influence of Forming Conditions on Springback in V-bending Process Using Servo Press

    Science.gov (United States)

    Abe, Shinya; Takahashi, Susumu

    To improve fuel efficiency, aluminum alloys and high tensile steel sheets are increasingly being applied to automotive body parts. However, it is difficult to obtain accurate dimensions of formed parts. Therefore, technologies for reducing springback for the part formed by press are strongly demanded. It is said that the die holding time at the bottom dead center of a servo press slide can affect springback. To clarify the forming mechanisms of this phenomenon, a V bending test with a servo press was performed. Aluminum alloys sheets are applied as specimens. The location of press slide was measured by linear scales. It was found that the movement of the slide in a slide motion program differs from the actual movement of the slide. It is important to confirm if the slide is located in the position specified in the program. In addition, a springback angle measurement system is proposed that uses laser displacement measurement apparatus. Because it avoids human error, the proposed measurement system is more accurate than the image processing method.

  1. Development of a Control System for PRIDE Remote Servo-manipulator

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Jong Kwang; Park, Byung Suk; Lee, Hyo Jik; Kim, Kyung Tae; Kim, Sung Hyun; Park, Hee Sung; Kim, Young Hwan; Jung, Jae Hoo; Kim, Ki Ho; Kim, Ho Dong

    2009-12-15

    KAERI is developing the PRIDE(PyRoprocess Integrated inactive DEmonstration) facility to verify the integrated performance of full Pyroprocess flow. A main process cell in the PRIDE facility will be filled with argon gas which prohibits direct access by human operators. Therefore, all the operation and maintenance of the process equipment is performed remotely through a master-slave manipulation. This research focuses on the design, fabrication, and interface of a control system which integrates several hardware systems such as a dual arm master-slave servo-manipulator, a horizontally moving transporter for a master manipulator, a bridge transporter for a slave manipulator, a chain hoist, camera systems and their display system, a manual console, and a pendant, etc. Also, a bilateral force-reflection controller considering an elasticity and vibration modes of wire cable has been developed for master-slave remote manipulation. The results obtained in this study will be applied for the force-reflection control of the bridge-transported master-slave servo-manipulator system for use in the PRIDE facility. Since this research is an essential work in robotics related fields, the results would be widely used for developing power manipulators and process automation equipment.

  2. Control of xenon spatial oscillations during load follow of nuclear reactor via robust servo systems

    International Nuclear Information System (INIS)

    Ukai, Hiroyuki; Yada, Yukihiro; Iwazumi, Tetsuo; Morita, Yoshifumi.

    1990-01-01

    This paper investigates the control problem of xenon spatial oscillations in the axial direction during load following operations of a nuclear reactor. The system model is described by a one-group diffusion equation with xenon and power feedbacks and iodine-xenon dynamic equations and controlled by full-length and part-length control rods. In order to achieve the control purpose we formulate the control model as the design problem of robust servo systems for distributed parameter reactor systems. Hence the total thermal power and the axial offset are chosen as outputs to be controlled. The control law is designed based upon finite-dimensional systems which are constructed by linearizing around steady states, approximating by the Galerkin approximate method and reducing dimensions via the singular perturbation method. From a computational point of view a simple computational algorithm to obtain an approximate solution of the steady state neutron balance is developed via the perturbation method. Some results of numerical simulations are represented to show effectiveness of the theory developed in this paper. Particularly it is shown that the designed servo systems are robust against model errors with the linearization and the model truncation. (author)

  3. Robust control for a biaxial servo with time delay system based on adaptive tuning technique.

    Science.gov (United States)

    Chen, Tien-Chi; Yu, Chih-Hsien

    2009-07-01

    A robust control method for synchronizing a biaxial servo system motion is proposed in this paper. A new network based cross-coupled control and adaptive tuning techniques are used together to cancel out the skew error. The conventional fixed gain PID cross-coupled controller (CCC) is replaced with the adaptive cross-coupled controller (ACCC) in the proposed control scheme to maintain biaxial servo system synchronization motion. Adaptive-tuning PID (APID) position and velocity controllers provide the necessary control actions to maintain synchronization while following a variable command trajectory. A delay-time compensator (DTC) with an adaptive controller was augmented to set the time delay element, effectively moving it outside the closed loop, enhancing the stability of the robust controlled system. This scheme provides strong robustness with respect to uncertain dynamics and disturbances. The simulation and experimental results reveal that the proposed control structure adapts to a wide range of operating conditions and provides promising results under parameter variations and load changes.

  4. Asymmetric Fuzzy Control of a Positive and Negative Pneumatic Pressure Servo System

    Science.gov (United States)

    Yang, Gang; Du, Jing-Min; Fu, Xiao-Yun; Li, Bao-Ren

    2017-11-01

    The pneumatic pressure control systems have been used in some fields. However, the researches on pneumatic pressure control mainly focus on constant pressure regulation. Poor dynamic characteristics and strong nonlinearity of such systems limit its application in the field of pressure tracking control. In order to meet the demand of generating dynamic pressure signal in the application of the hardware-in-the-loop simulation of aerospace engineering, a positive and negative pneumatic pressure servo system is provided to implement dynamic adjustment of sealed chamber pressure. A mathematical model is established with simulation and experiment being implemented afterwards to discuss the characteristics of the system, which shows serious asymmetry in the process of charging and discharging. Based on the analysis of the system dynamics, a fuzzy proportional integral derivative (PID) controller with asymmetric fuzzy compensator is proposed. Different from conventional adjusting mechanisms employing the error and change in error of the controlled variable as input parameters, the current chamber pressure and charging or discharging state are chosen as inputs of the compensator, which improves adaptability. To verify the effectiveness and performance of the proposed controller, the comparison experiments tracking sinusoidal and square wave commands are conducted. Experimental results show that the proposed controller can obtain better dynamic performance and relatively consistent control performance across the scope of work (2-140 kPa). The research proposes a fuzzy control method to overcome asymmetry and enhance adaptability for the positive and negative pneumatic pressure servo system.

  5. Experimental study on performance characteristics of servo-piston hydraulic control rod driving mechanism

    International Nuclear Information System (INIS)

    Yu Mingrui; Han Weishi; Zhou Jie; Liu Chunyu; Yang Zhida; Wang Ge

    2014-01-01

    An experimental study on the performance characteristics of the servo-piston hydraulic control rod driving mechanism is carried out, the dynamic processes of the driving mechanism are obtained through the experiments in different working conditions. Combined with the structure characteristics of the driving mechanism, the change rule between the characteristics parameters and the working condition is analyzed. The results indicate that the traction of the servo-tube decreases quickly at first, then slowly and finally trends to be a constant with the working pressure increasing, the tractions are the largest in the startup and deboost phases. The under pressure of the drive cylinder rises slowly and the upper pressure decreases rapidly at the beginning of the rise, the variation trend is opposite in the falling stage. There exists quick and clear flow change processes in the startup and deboost phases, the flow mutation value reduces and the mutation time changes a little with the working pressure increasing. The driving mechanism runs stable and has high sensitivity precision, the load does not vibrate at all when working conditions has small disturbance, a steady transform can be realized among every condition. (authors)

  6. Vision Servo Motion Control and Error Analysis of a Coplanar XXY Stage for Image Alignment Motion

    Directory of Open Access Journals (Sweden)

    Hau-Wei Lee

    2013-01-01

    Full Text Available In recent years, as there is demand for smart mobile phones with touch panels, the alignment/compensation system of alignment stage with vision servo control has also increased. Due to the fact that the traditional stacked-type XYθ stage has cumulative errors of assembly and it is heavy, it has been gradually replaced by the coplanar stage characterized by three actuators on the same plane with three degrees of freedom. The simplest image alignment mode uses two cameras as the equipments for feedback control, and the work piece is placed on the working stage. The work piece is usually engraved/marked. After the cameras capture images and when the position of the mark in the camera is obtained by image processing, the mark can be moved to the designated position in the camera by moving the stage and using alignment algorithm. This study used a coplanar XXY stage with 1 μm positioning resolution. Due to the fact that the resolution of the camera is about 3.75 μm per pixel, thus a subpixel technology is used, and the linear and angular alignment repeatability of the alignment system can achieve 1 μm and 5 arcsec, respectively. The visual servo motion control for alignment motion is completed within 1 second using the coplanar XXY stage.

  7. High mechanical advantage design of six-bar Stephenson mechanism for servo mechanical presses

    Directory of Open Access Journals (Sweden)

    Jianguo Hu

    2016-06-01

    Full Text Available This article proposed a two-phase design scheme of Stephenson six-bar working mechanisms for servo mechanical presses with high mechanical advantage. In the qualitative design phase, first, a Stephenson six-bar mechanism with a slide was derived from Stephenson six-bar kinematic chains. Second, based on the instant center analysis method, the relationship between mechanical advantage and some special instant centers was founded, and accordingly a primary mechanism configuration with high mechanical advantage was designed qualitatively. Then, a parameterized prototype model was established, and the influences of design parameters toward slide kinematical characteristics were analyzed. In the quantitative design phase, a multi-objective optimization model, aiming at high mechanical advantage and dwelling characteristics, was built, and a case design was done to find optimal dimensions. Finally, simulations based on the software ADAMS were conducted to compare the transmission characteristics of the optimized working mechanism with that of slide-crank mechanism and symmetrical toggle mechanism, and an experimental press was made to validate the design scheme. The simulation and experiment results show that, compared with general working mechanisms, the Stephenson six-bar working mechanism has higher mechanical advantage and better dwelling characteristics, reducing capacities and costs of servo motors effectively.

  8. Development of BLDC Electric Motor Control System In Hydraulic Servo Drive Based on Variable Hydrostatic Transmission

    Directory of Open Access Journals (Sweden)

    O. I. Tarasov

    2014-01-01

    Full Text Available Modern robotic systems require the use of servo drives. Owing to encoder and negative feedback these drives ensure highly accurate motion parameters. In case of autonomous systems drives must also have high power characteristics. Moreover, in most cases, it was impossible to select the motor so that the speed and torque on its shaft were in compliance with those of required by the actuator. To match these parameters different types of reducers are used. The article justifies and considers a selection criterion of the gear ratios for such transmission. For clarity, there is an example of selecting a motor and a gear for above transmission, taking into account the proposed criterion. In addition, the article discusses the advantages of using hydrostatic transmission in the drive, which monitors the angular position of the output level, in comparison with a mechanical gearbox. Due to the fact that, at the moment, BLDC motors have the best power characteristics, such a servo drive requires a special control system that will take into account the features of variable hydrostatic transmission and electric BLDC motor. Therefore, the paper proposes a structure of such a system and set out the principles of its construction. Various embodiments of sensor types that may be used in this system and their installation scheme explained.

  9. Micro-vision servo control of a multi-axis alignment system for optical fiber assembly

    International Nuclear Information System (INIS)

    Chen, Weihai; Yu, Fei; Qu, Jianliang; Chen, Wenjie; Zhang, Jianbin

    2017-01-01

    This paper describes a novel optical fiber assembly system featuring a multi-axis alignment function based on micro-vision feedback control. It consists of an active parallel alignment mechanism, a passive compensation mechanism, a micro-gripper and a micro-vision servo control system. The active parallel alignment part is a parallelogram-based design with remote-center-of-motion (RCM) function to achieve precise rotation without fatal lateral motion. The passive mechanism, with five degrees of freedom (5-DOF), is used to implement passive compensation for multi-axis errors. A specially designed 1-DOF micro-gripper mounted onto the active parallel alignment platform is adopted to grasp and rotate the optical fiber. A micro-vision system equipped with two charge-coupled device (CCD) cameras is introduced to observe the small field of view and obtain multi-axis errors for servo feedback control. The two CCD cameras are installed in an orthogonal arrangement—thus the errors can be easily measured via the captured images. Meanwhile, a series of tracking and measurement algorithms based on specific features of the target objects are developed. Details of the force and displacement sensor information acquisition in the assembly experiment are also provided. An experiment demonstrates the validity of the proposed visual algorithm by achieving the task of eliminating errors and inserting an optical fiber to the U-groove accurately. (paper)

  10. a design to digitalize hydraulic cylinder control of a machine tool

    African Journals Online (AJOL)

    Dr Obe

    1995-09-01

    Sep 1, 1995 ... Department of Mechanical Engineering. FEDERAL UNIVERSITY OF TECHNOLOGY, OWERRI,. P.M.B. 1526, OWERRI. ABSTRACT. Conventionally hydraulic piston - cylinder servos are actuated using analogue controls for machine tool axis drives. In this paper a design of the axis control system of an NC ...

  11. Scattering of H(D) from LiF(1 0 0) under fast grazing incidence conditions: To what extent is classical dynamics a useful tool?

    Energy Technology Data Exchange (ETDEWEB)

    Muzas, A.S. [Departamento de Química Módulo 13, Universidad Autónoma de Madrid, 28049 Madrid (Spain); Martín, F. [Departamento de Química Módulo 13, Universidad Autónoma de Madrid, 28049 Madrid (Spain); Instituto Madrileño de Estudios Avanzados en Nanociencia (IMDEA-nanociencia), Cantoblanco, 28049 Madrid (Spain); Díaz, C., E-mail: cristina.diaz@uam.es [Departamento de Química Módulo 13, Universidad Autónoma de Madrid, 28049 Madrid (Spain)

    2015-07-01

    Diffraction experiments of atoms and molecules under fast grazing incidence conditions have opened a new field in surface science. This experimental effort calls for complementary theoretical studies, which would allow a detailed analysis of experimental data. Here, we have analyzed the ability of classical dynamics simulations to reproduce experimental results. To perform this study, a DFT (density functional theory) based potential energy surface, describing the interaction between a H atom and a LiF(1 0 0) surface, has been computed. Diffraction probabilities have been simulated by means of a classical binning method. Our results have been found to be in qualitative good agreement with recent experimental measurements.

  12. Visual servoing in medical robotics: a survey. Part I: endoscopic and direct vision imaging - techniques and applications.

    Science.gov (United States)

    Azizian, Mahdi; Khoshnam, Mahta; Najmaei, Nima; Patel, Rajni V

    2014-09-01

    Intra-operative imaging is widely used to provide visual feedback to a clinician when he/she performs a procedure. In visual servoing, surgical instruments and parts of tissue/body are tracked by processing the acquired images. This information is then used within a control loop to manoeuvre a robotic manipulator during a procedure. A comprehensive search of electronic databases was completed for the period 2000-2013 to provide a survey of the visual servoing applications in medical robotics. The focus is on medical applications where image-based tracking is used for closed-loop control of a robotic system. Detailed classification and comparative study of various contributions in visual servoing using endoscopic or direct visual images are presented and summarized in tables and diagrams. The main challenges in using visual servoing for medical robotic applications are identified and potential future directions are suggested. 'Supervised automation of medical robotics' is found to be a major trend in this field. Copyright © 2013 John Wiley & Sons, Ltd.

  13. Adaptive servo ventilation for central sleep apnoea in heart failure : SERVE-HF on-treatment analysis

    NARCIS (Netherlands)

    Woehrle, Holger; Cowie, Martin R.; Eulenburg, Christine; Suling, Anna; Angermann, Christiane; d'Ortho, Marie-Pia; Erdmann, Erland; Levy, Patrick; Simonds, Anita K.; Somers, Virend K.; Zannad, Faiez; Teschler, Helmut; Wegscheider, Karl

    2017-01-01

    This on-treatment analysis was conducted to facilitate understanding of mechanisms underlying the increased risk of all-cause and cardiovascular mortality in heart failure patients with reduced ejection fraction and predominant central sleep apnoea randomised to adaptive servo ventilation versus the

  14. Calorie count - fast food

    Science.gov (United States)

    ... GO About MedlinePlus Site Map FAQs Customer Support Health Topics Drugs & Supplements Videos & Tools Español You Are Here: Home → Medical Encyclopedia → Calorie count - fast food URL of this page: //medlineplus.gov/ency/patientinstructions/ ...

  15. Induced hypothermia for infants with hypoxic- ischemic encephalopathy using a servo-controlled fan: an exploratory pilot study.

    Science.gov (United States)

    Horn, Alan; Thompson, Clare; Woods, David; Nel, Alida; Bekker, Adrie; Rhoda, Natasha; Pieper, Clarissa

    2009-06-01

    Several trials suggest that hypothermia is beneficial in selected infants with hypoxic-ischemic encephalopathy. However, the cooling methods used required repeated interventions and were either expensive or reported significant temperature variation. The objective of this pilot study was to describe the use, efficacy, and physiologic impact of an inexpensive servo-controlled cooling fan blowing room-temperature air. A servo-controlled fan was manufactured and used to cool 10 infants with hypoxic-ischemic encephalopathy to a rectal temperature of 33 degrees C to 34 degrees C. The infants were sedated with phenobarbital, but clonidine was administered to some infants if shivering or discomfort occurred. A servo-controlled radiant warmer was used simultaneously with the fan to prevent overcooling. The settings used on the fan and radiant warmer differed slightly between some infants as the technique evolved. A rectal temperature of 34 degrees C was achieved in a median time of 58 minutes. Overcooling did not occur, and the mean temperature during cooling was 33.6 degrees C +/- 0.2 degrees C. Inspired oxygen requirements increased in 6 infants, and 5 infants required inotropic support during cooling, but this was progressively reduced after 1 to 2 days. Dehydration did not occur. Five infants shivered when faster fan speeds were used, but 4 of the 5 infants had hypomagnesemia. Shivering was controlled with clonidine in 4 infants, but 1 infant required morphine. Servo-controlled fan cooling with room-temperature air, combined with servo-controlled radiant warming, was an effective, simple, and safe method of inducing and maintaining rectal temperatures of 33 degrees C to 34 degrees C in sedated infants with hypoxic-ischemic encephalopathy. After induction of hypothermia, a low fan speed facilitated accurate temperature control, and warmer-controlled rewarming at 0.2 degrees C increments every 30 minutes resulted in more appropriate rewarming than when 0.5 degrees C

  16. A Design Method for Fault Reconfiguration and Fault-Tolerant Control of a Servo Motor

    Directory of Open Access Journals (Sweden)

    Jing He

    2013-01-01

    Full Text Available A design scheme that integrates fault reconfiguration and fault-tolerant position control is proposed for a nonlinear servo system with friction. Analysis of the non-linear friction torque and fault in the system is used to guide design of a sliding mode position controller. A sliding mode observer is designed to achieve fault reconfiguration based on the equivalence principle. Thus, active fault-tolerant position control of the system can be realized. A real-time simulation experiment is performed on a hardware-in-loop simulation platform. The results show that the system reconfigures well for both incipient and abrupt faults. Under the fault-tolerant control mechanism, the output signal for the system position can rapidly track given values without being influenced by faults.

  17. Hankel Matrix Correlation Function-Based Subspace Identification Method for UAV Servo System

    Directory of Open Access Journals (Sweden)

    Minghong She

    2018-01-01

    Full Text Available For the identification problem of closed-loop subspace model, we propose a zero space projection method based on the estimation of correlation function to fill the block Hankel matrix of identification model by combining the linear algebra with geometry. By using the same projection of related data in time offset set and LQ decomposition, the multiplication operation of projection is achieved and dynamics estimation of the unknown equipment system model is obtained. Consequently, we have solved the problem of biased estimation caused when the open-loop subspace identification algorithm is applied to the closed-loop identification. A simulation example is given to show the effectiveness of the proposed approach. In final, the practicability of the identification algorithm is verified by hardware test of UAV servo system in real environment.

  18. Propulsion System Dynamic Modeling of the NASA Supersonic Concept Vehicle for AeroPropulsoServoElasticity

    Science.gov (United States)

    Kopasakis, George; Connolly, Joseph W.; Seiel, Jonathan

    2016-01-01

    A summary of the propulsion system modeling under NASA's High Speed Project (HSP) AeroPropulsoServoElasticity (APSE) task is provided with a focus on the propulsion system for the low-boom supersonic configuration developed by Lockheed Martin and referred to as the N+2 configuration. This summary includes details on the effort to date to develop computational models for the various propulsion system components. The objective of this paper is to summarize the model development effort in this task, while providing more detail in the modeling areas that have not been previously published. The purpose of the propulsion system modeling and the overall APSE effort is to develop an integrated dynamic vehicle model to conduct appropriate unsteady analysis of supersonic vehicle performance. This integrated APSE system model concept includes the propulsion system model, and the vehicle structural aerodynamics model. The development to date of such a preliminary integrated model will also be summarized in this report

  19. Pneumatic Rotary Actuator Position Servo System Based on ADE-PD Control

    Directory of Open Access Journals (Sweden)

    Yeming Zhang

    2018-03-01

    Full Text Available In order to accurately control the rotation position of a pneumatic rotary actuator, the flow state of the gas and the motion state of the pneumatic rotary actuator in the pneumatic rotary actuator position servo system are analyzed in this paper. The mathematical model of the system and the experiment platform are established after that. An Adaptive Differential Evolution (ADE algorithm which adaptively ameliorates the scaling factor and crossover probability in the process of individual evolution is proposed and applied to the parameter optimization of PD controller. The experimental platform is used to compare the controller with Differential Evolution (DE algorithm and NCD-PID controller. Finally, the characteristics of the system are tested by increasing the inertial load. The experimental results illustrate that system using ADE-PD control strategy has greater position precision and faster response than using DE-PD and NCD-PID strategies, and shows great robustness.

  20. Optimization of Smart Structure for Improving Servo Performance of Hard Disk Drive

    Science.gov (United States)

    Kajiwara, Itsuro; Takahashi, Masafumi; Arisaka, Toshihiro

    Head positioning accuracy of the hard disk drive should be improved to meet today's increasing performance demands. Vibration suppression of the arm in the hard disk drive is very important to enhance the servo bandwidth of the head positioning system. In this study, smart structure technology is introduced into the hard disk drive to suppress the vibration of the head actuator. It has been expected that the smart structure technology will contribute to the development of small and light-weight mechatronics devices with the required performance. First, modeling of the system is conducted with finite element method and modal analysis. Next, the actuator location and the control system are simultaneously optimized using genetic algorithm. Vibration control effect with the proposed vibration control mechanisms has been evaluated by some simulations.

  1. Compensating Unknown Time-Varying Delay in Opto-Electronic Platform Tracking Servo System

    Directory of Open Access Journals (Sweden)

    Ruihong Xie

    2017-05-01

    Full Text Available This paper investigates the problem of compensating miss-distance delay in opto-electronic platform tracking servo system. According to the characteristic of LOS (light-of-sight motion, we setup the Markovian process model and compensate this unknown time-varying delay by feed-forward forecasting controller based on robust H∞ control. Finally, simulation based on double closed-loop PI (Proportion Integration control system indicates that the proposed method is effective for compensating unknown time-varying delay. Tracking experiments on the opto-electronic platform indicate that RMS (root-mean-square error is 1.253 mrad when tracking 10° 0.2 Hz signal.

  2. Autonomous Cargo Transport System for an Unmanned Aerial Vehicle, using Visual Servoing

    Directory of Open Access Journals (Sweden)

    Noah Kuntz

    2009-12-01

    Full Text Available This paper presents the design and testing of a system for autonomous tracking, pickup, and delivery of cargo via an unmanned helicopter. The tracking system uses a visual servoing algorithm and is tested using open loop velocity control of a six degree of freedom gantry system with a camera mounted via a pan-tilt unit on the end effecter. The pickup system uses vision to direct the camera pan tilt unit to track the target, and uses a hook attached to a second pan tilt unit to pick up the cargo. The ability of the pickup system to hook a target is tested by mounting it on the Systems Integrated Sensor Test Rig gantry system while recorded helicopter velocities are played back by the test rig.

  3. Improved servo-controlled inertial clock for laboratory tests of general relativity

    International Nuclear Information System (INIS)

    Leyh, C.H.

    1984-01-01

    An inertial clock, consisting of a protected macroscopic rotor as the time base, was developed and tested preliminarily and partially by Cheung. This research offers considerable refinement of the equipment and the operating software, and includes serious testing of the experimental behavior. The inertial clock uses magnetic suspension to levitate a capped hollow cylindrical rotor (called the shroud rotor) within a vacuum chamber. A second rotor (called the proof rotor) is magnetically suspended within the shroud rotor. The shroud rotor is caused to corotate precisely with the rotating proof rotor by a microcomputer-controlled eddy current drive feedback servo loop. This produces a drag-free environment for the proof rotor which becomes the inertial timekeeper. In this way corotation effectively eliminates the residual gas drag on the proof rotor and the magnetic suspension bearing reduces bearing drag

  4. State feedback integral control for a rotary direct drive servo valve using a Lyapunov function approach.

    Science.gov (United States)

    Yu, Jue; Zhuang, Jian; Yu, Dehong

    2015-01-01

    This paper concerns a state feedback integral control using a Lyapunov function approach for a rotary direct drive servo valve (RDDV) while considering parameter uncertainties. Modeling of this RDDV servovalve reveals that its mechanical performance is deeply influenced by friction torques and flow torques; however, these torques are uncertain and mutable due to the nature of fluid flow. To eliminate load resistance and to achieve satisfactory position responses, this paper develops a state feedback control that integrates an integral action and a Lyapunov function. The integral action is introduced to address the nonzero steady-state error; in particular, the Lyapunov function is employed to improve control robustness by adjusting the varying parameters within their value ranges. This new controller also has the advantages of simple structure and ease of implementation. Simulation and experimental results demonstrate that the proposed controller can achieve higher control accuracy and stronger robustness. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

  5. Predictive IP controller for robust position control of linear servo system.

    Science.gov (United States)

    Lu, Shaowu; Zhou, Fengxing; Ma, Yajie; Tang, Xiaoqi

    2016-07-01

    Position control is a typical application of linear servo system. In this paper, to reduce the system overshoot, an integral plus proportional (IP) controller is used in the position control implementation. To further improve the control performance, a gain-tuning IP controller based on a generalized predictive control (GPC) law is proposed. Firstly, to represent the dynamics of the position loop, a second-order linear model is used and its model parameters are estimated on-line by using a recursive least squares method. Secondly, based on the GPC law, an optimal control sequence is obtained by using receding horizon, then directly supplies the IP controller with the corresponding control parameters in the real operations. Finally, simulation and experimental results are presented to show the efficiency of proposed scheme. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  6. A new linearized equation for servo valve in hydraulic control systems

    International Nuclear Information System (INIS)

    Kim, Tae Hyung; Lee, Ill Yeong

    2002-01-01

    In the procedure of the hydraulic control system analysis, a linearized approximate equation described by the first order term of Taylor's series has been widely used. Such a linearized equation is effective just near the operating point. And, as of now, there are no general standards on how to determine the operating point of a servo valve in the process of applying the linearized equation. So, in this study, a new linearized equation for valve characteristics is proposed as a modified form of the existing linearized equation. And, a method for selecting an optimal operating point is proposed for the new linearized equation. The effectiveness of the new linearized equation is confirmed through numerical simulations and experiments for a model hydraulic control system

  7. What is the Optimal Strategy for Adaptive Servo-Ventilation Therapy?

    Science.gov (United States)

    Imamura, Teruhiko; Kinugawa, Koichiro

    2018-05-23

    Clinical advantages in the adaptive servo-ventilation (ASV) therapy have been reported in selected heart failure patients with/without sleep-disorder breathing, whereas multicenter randomized control trials could not demonstrate such advantages. Considering this discrepancy, optimal patient selection and device setting may be a key for the successful ASV therapy. Hemodynamic and echocardiographic parameters indicating pulmonary congestion such as elevated pulmonary capillary wedge pressure were reported as predictors of good response to ASV therapy. Recently, parameters indicating right ventricular dysfunction also have been reported as good predictors. Optimal device setting with appropriate pressure setting during appropriate time may also be a key. Large-scale prospective trial with optimal patient selection and optimal device setting is warranted.

  8. A switched energy saving position controller for variable-pressure electro-hydraulic servo systems.

    Science.gov (United States)

    Tivay, Ali; Zareinejad, Mohammad; Rezaei, S Mehdi; Baghestan, Keivan

    2014-07-01

    The electro-hydraulic servo system (EHSS) demonstrates a relatively low level of efficiency compared to other available actuation methods. The objective of this paper is to increase this efficiency by introducing a variable supply pressure into the system and controlling this pressure during the task of position tracking. For this purpose, an EHSS structure with controllable supply pressure is proposed and its dynamic model is derived from the basic laws of physics. A switching control structure is then proposed to control both the supply pressure and the cylinder position at the same time, in a way that reduces the overall energy consumption of the system. The stability of the proposed switching control system is guaranteed by proof, and its performance is verified by experimental testing. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

  9. Visual Servoing Tracking Control of a Ball and Plate System: Design, Implementation and Experimental Validation

    Directory of Open Access Journals (Sweden)

    Ming-Tzu Ho

    2013-07-01

    Full Text Available This paper presents the design, implementation and validation of real-time visual servoing tracking control for a ball and plate system. The position of the ball is measured with a machine vision system. The image processing algorithms of the machine vision system are pipelined and implemented on a field programmable gate array (FPGA device to meet real-time constraints. A detailed dynamic model of the system is derived for the simulation study. By neglecting the high-order coupling terms, the ball and plate system model is simplified into two decoupled ball and beam systems, and an approximate input-output feedback linearization approach is then used to design the controller for trajectory tracking. The designed control law is implemented on a digital signal processor (DSP. The validity of the performance of the developed control system is investigated through simulation and experimental studies. Experimental results show that the designed system functions well with reasonable agreement with simulations.

  10. Incremental inverse kinematics based vision servo for autonomous robotic capture of non-cooperative space debris

    Science.gov (United States)

    Dong, Gangqi; Zhu, Z. H.

    2016-04-01

    This paper proposed a new incremental inverse kinematics based vision servo approach for robotic manipulators to capture a non-cooperative target autonomously. The target's pose and motion are estimated by a vision system using integrated photogrammetry and EKF algorithm. Based on the estimated pose and motion of the target, the instantaneous desired position of the end-effector is predicted by inverse kinematics and the robotic manipulator is moved incrementally from its current configuration subject to the joint speed limits. This approach effectively eliminates the multiple solutions in the inverse kinematics and increases the robustness of the control algorithm. The proposed approach is validated by a hardware-in-the-loop simulation, where the pose and motion of the non-cooperative target is estimated by a real vision system. The simulation results demonstrate the effectiveness and robustness of the proposed estimation approach for the target and the incremental control strategy for the robotic manipulator.

  11. Application of simple adaptive control to water hydraulic servo cylinder system

    Science.gov (United States)

    Ito, Kazuhisa; Yamada, Tsuyoshi; Ikeo, Shigeru; Takahashi, Koji

    2012-09-01

    Although conventional model reference adaptive control (MRAC) achieves good tracking performance for cylinder control, the controller structure is much more complicated and has less robustness to disturbance in real applications. This paper discusses the use of simple adaptive control (SAC) for positioning a water hydraulic servo cylinder system. Compared with MRAC, SAC has a simpler and lower order structure, i.e., higher feasibility. The control performance of SAC is examined and evaluated on a water hydraulic servo cylinder system. With the recent increased concerns over global environmental problems, the water hydraulic technique using pure tap water as a pressure medium has become a new drive source comparable to electric, oil hydraulic, and pneumatic drive systems. This technique is also preferred because of its high power density, high safety against fire hazards in production plants, and easy availability. However, the main problems for precise control in a water hydraulic system are steady state errors and overshoot due to its large friction torque and considerable leakage flow. MRAC has been already applied to compensate for these effects, and better control performances have been obtained. However, there have been no reports on the application of SAC for water hydraulics. To make clear the merits of SAC, the tracking control performance and robustness are discussed based on experimental results. SAC is confirmed to give better tracking performance compared with PI control, and a control precision comparable to MRAC (within 10 μm of the reference position) and higher robustness to parameter change, despite the simple controller. The research results ensure a wider application of simple adaptive control in real mechanical systems.

  12. Application of micro-thin-layer chromatography as a simple fractionation tool for fast screening of raw extracts derived from complex biological, pharmaceutical and environmental samples

    Energy Technology Data Exchange (ETDEWEB)

    Zarzycki, Pawel K., E-mail: pawel_k_z@hotmail.com [Section of Toxicology and Bioanalytics, Department of Civil and Environmental Engineering, Koszalin University of Technology, Sniadeckich 2, 75-453 Koszalin (Poland); Slaczka, Magdalena M.; Zarzycka, Magdalena B.; Wlodarczyk, Elzbieta; Baran, Michal J. [Section of Toxicology and Bioanalytics, Department of Civil and Environmental Engineering, Koszalin University of Technology, Sniadeckich 2, 75-453 Koszalin (Poland)

    2011-03-04

    The main goal of present paper is to demonstrate the separation and detection capability of micro-TLC technique involving simple one step liquid extraction protocols of complex materials without multi-steps sample pre-purification. In the present studies target components (cyanobacteria pigments, lipids and fullerenes) were isolated from heavy loading complex matrices including spirulina dried cells, birds' feathers and fatty oils as well as soot samples derived from biomass fuel and fossils-fired home heating systems. In each case isocratic separation protocol involving less that 1 mL of one component or binary mixture mobile phases can be completed within time of 5-8 min. Sensitive detection of components of interest was performed via fluorescence or staining techniques using iodine or phosphomolybdic acid. Described methodology can be applied for fast fractionation or screening of whole range of target substances as well as chemo-taxonomic studies and fingerprinting of complex mixtures, which are present in raw biological or environmental samples.

  13. Reprint of: Application of micro-thin-layer chromatography as a simple fractionation tool for fast screening of raw extracts derived from complex biological, pharmaceutical and environmental samples

    Energy Technology Data Exchange (ETDEWEB)

    Zarzycki, Pawel K., E-mail: pawel_k_z@hotmail.com [Section of Toxicology and Bioanalytics, Department of Civil and Environmental Engineering, Koszalin University of Technology, Sniadeckich 2, 75-453 Koszalin (Poland); Slaczka, Magdalena M.; Zarzycka, Magdalena B.; Wlodarczyk, Elzbieta; Baran, Michal J. [Section of Toxicology and Bioanalytics, Department of Civil and Environmental Engineering, Koszalin University of Technology, Sniadeckich 2, 75-453 Koszalin (Poland)

    2012-02-24

    The main goal of present paper is to demonstrate the separation and detection capability of micro-TLC technique involving simple one step liquid extraction protocols of complex materials without multi-steps sample pre-purification. In the present studies target components (cyanobacteria pigments, lipids and fullerenes) were isolated from heavy loading complex matrices including spirulina dried cells, birds' feathers and fatty oils as well as soot samples derived from biomass fuel and fossils-fired home heating systems. In each case isocratic separation protocol involving less that 1 mL of one component or binary mixture mobile phases can be completed within time of 5-8 min. Sensitive detection of components of interest was performed via fluorescence or staining techniques using iodine or phosphomolybdic acid. Described methodology can be applied for fast fractionation or screening of whole range of target substances as well as chemo-taxonomic studies and fingerprinting of complex mixtures, which are present in raw biological or environmental samples.

  14. Reprint of: Application of micro-thin-layer chromatography as a simple fractionation tool for fast screening of raw extracts derived from complex biological, pharmaceutical and environmental samples

    International Nuclear Information System (INIS)

    Zarzycki, Paweł K.; Ślączka, Magdalena M.; Zarzycka, Magdalena B.; Włodarczyk, Elżbieta; Baran, Michał J.

    2012-01-01

    The main goal of present paper is to demonstrate the separation and detection capability of micro-TLC technique involving simple one step liquid extraction protocols of complex materials without multi-steps sample pre-purification. In the present studies target components (cyanobacteria pigments, lipids and fullerenes) were isolated from heavy loading complex matrices including spirulina dried cells, birds’ feathers and fatty oils as well as soot samples derived from biomass fuel and fossils-fired home heating systems. In each case isocratic separation protocol involving less that 1 mL of one component or binary mixture mobile phases can be completed within time of 5–8 min. Sensitive detection of components of interest was performed via fluorescence or staining techniques using iodine or phosphomolybdic acid. Described methodology can be applied for fast fractionation or screening of whole range of target substances as well as chemo-taxonomic studies and fingerprinting of complex mixtures, which are present in raw biological or environmental samples.

  15. Application of micro-thin-layer chromatography as a simple fractionation tool for fast screening of raw extracts derived from complex biological, pharmaceutical and environmental samples

    International Nuclear Information System (INIS)

    Zarzycki, Pawel K.; Slaczka, Magdalena M.; Zarzycka, Magdalena B.; Wlodarczyk, Elzbieta; Baran, Michal J.

    2011-01-01

    The main goal of present paper is to demonstrate the separation and detection capability of micro-TLC technique involving simple one step liquid extraction protocols of complex materials without multi-steps sample pre-purification. In the present studies target components (cyanobacteria pigments, lipids and fullerenes) were isolated from heavy loading complex matrices including spirulina dried cells, birds' feathers and fatty oils as well as soot samples derived from biomass fuel and fossils-fired home heating systems. In each case isocratic separation protocol involving less that 1 mL of one component or binary mixture mobile phases can be completed within time of 5-8 min. Sensitive detection of components of interest was performed via fluorescence or staining techniques using iodine or phosphomolybdic acid. Described methodology can be applied for fast fractionation or screening of whole range of target substances as well as chemo-taxonomic studies and fingerprinting of complex mixtures, which are present in raw biological or environmental samples.

  16. Development of an Nearly Zero Emission Building (nZEB Life Cycle Cost Assessment Tool for Fast Decision Making in the Early Design Phase

    Directory of Open Access Journals (Sweden)

    Hae Jin Kang

    2017-01-01

    Full Text Available An economic feasibility optimization method for the life cycle cost (LCC has been developed to apply energy saving techniques in the early design stages of a building. The method was developed using default data (e.g., operation schedules, energy consumption prediction equations and cost prediction equations utilizing design variables considered in the early design phase. With certain equations developed, an LCC model was constructed using the computational program MATLAB, to create an automated optimization process. To verify the results from the newly developed assessment tool, a case study on an office building was performed to outline the results of the designer’s proposed model and the cost optimal model.

  17. Automatic flow-through dynamic extraction: A fast tool to evaluate char-based remediation of multi-element contaminated mine soils.

    Science.gov (United States)

    Rosende, María; Beesley, Luke; Moreno-Jimenez, Eduardo; Miró, Manuel

    2016-02-01

    An automatic in-vitro bioaccessibility test based upon dynamic microcolumn extraction in a programmable flow setup is herein proposed as a screening tool to evaluate bio-char based remediation of mine soils contaminated with trace elements as a compelling alternative to conventional phyto-availability tests. The feasibility of the proposed system was evaluated by extracting the readily bioaccessible pools of As, Pb and Zn in two contaminated mine soils before and after the addition of two biochars (9% (w:w)) of diverse source origin (pine and olive). Bioaccessible fractions under worst-case scenarios were measured using 0.001 mol L(-1) CaCl2 as extractant for mimicking plant uptake, and analysis of the extracts by inductively coupled optical emission spectrometry. The t-test of comparison of means revealed an efficient metal (mostly Pb and Zn) immobilization by the action of olive pruning-based biochar against the bare (control) soil at the 0.05 significance level. In-vitro flow-through bioaccessibility tests are compared for the first time with in-vivo phyto-toxicity assays in a microcosm soil study. By assessing seed germination and shoot elongation of Lolium perenne in contaminated soils with and without biochar amendments the dynamic flow-based bioaccessibility data proved to be in good agreement with the phyto-availability tests. Experimental results indicate that the dynamic extraction method is a viable and economical in-vitro tool in risk assessment explorations to evaluate the feasibility of a given biochar amendment for revegetation and remediation of metal contaminated soils in a mere 10 min against 4 days in case of phyto-toxicity assays. Copyright © 2015 Elsevier B.V. All rights reserved.

  18. iSERVO: Implementing the International Solid Earth Research Virtual Observatory by Integrating Computational Grid and Geographical Information Web Services

    Science.gov (United States)

    Aktas, Mehmet; Aydin, Galip; Donnellan, Andrea; Fox, Geoffrey; Granat, Robert; Grant, Lisa; Lyzenga, Greg; McLeod, Dennis; Pallickara, Shrideep; Parker, Jay; Pierce, Marlon; Rundle, John; Sayar, Ahmet; Tullis, Terry

    2006-12-01

    We describe the goals and initial implementation of the International Solid Earth Virtual Observatory (iSERVO). This system is built using a Web Services approach to Grid computing infrastructure and is accessed via a component-based Web portal user interface. We describe our implementations of services used by this system, including Geographical Information System (GIS)-based data grid services for accessing remote data repositories and job management services for controlling multiple execution steps. iSERVO is an example of a larger trend to build globally scalable scientific computing infrastructures using the Service Oriented Architecture approach. Adoption of this approach raises a number of research challenges in millisecond-latency message systems suitable for internet-enabled scientific applications. We review our research in these areas.

  19. Numerical calculation of three-dimensional flow field of servo-piston hydraulic control rod driving mechanism

    International Nuclear Information System (INIS)

    Yu Mingrui; Han Weishi; Wang Ge

    2014-01-01

    Servo-piston hydraulic control rod driving mechanism is a new type built-in driving mechanism which is suitable for integrated reactor and it can be moved continuously. The numerical calculation and analysis of the internal three-dimensional flow field inside the driving mechanism were carried out by the computational fluid dynamics software FLUENT. The result shows that the unique pressure mutation area of flow field inside the driving mechanism is at the place of the servo variable throttle orifice. The differential pressure of the piston can be effectively controlled by changing the gap of variable throttle orifice. When the gap changes within 0.5 mm, the differential pressure can be greatly changed, and then the driving mechanism motion state would be changed too. When the working pressure is 0.1 MPa, the hoisting capacity of the driving mechanism can meet the design requirements, and the flow rate is small. (authors)

  20. Robust and Stable Disturbance Observer of Servo System for Low Speed Operation Using the Radial Basis Function Network

    DEFF Research Database (Denmark)

    Lee, Kyo-Beum; Blaabjerg, Frede

    2005-01-01

    A new scheme to estimate the moment of inertia in the servo motor drive system in very low speed is proposed in this paper. The speed estimation scheme in most servo drive systems for low speed operation is sensitive to the variation of machine parameter, especially the moment of inertia....... To estimate the motor inertia value, the observer using the Radial Basis Function Network (RBFN) is applied. A control law for stabilizing the system and adaptive laws for updating both of the weights in the RBFN and a bounding constant are established so that the whole closed-loop system is stable...... in the sense of Lyapunov. The effectiveness of the proposed inertia estimation is verified by simulations and experiments. It is concluded that the speed control performance in low speed region is improved with the proposed disturbance observer using RBFN....

  1. Measuring the photodetector frequency response for ultrasonic applications by a heterodyne system with difference- frequency servo control.

    Science.gov (United States)

    Koch, Christian

    2010-05-01

    A technique for the calibration of photodiodes in ultrasonic measurement systems using standard and cost-effective optical and electronic components is presented. A heterodyne system was realized using two commercially available distributed feedback lasers, and the required frequency stability and resolution were ensured by a difference-frequency servo control scheme. The frequency-sensitive element generating the error signal for the servo loop comprised a delay-line discriminator constructed from electronic elements. Measurements were carried out at up to 450 MHz, and the uncertainties of about 5% (k = 2) can be further reduced by improved radio frequency power measurement without losing the feature of using only simple elements. The technique initially dedicated to the determination of the frequency response of photodetectors applied in ultrasonic applications can be transferred to other application fields of optical measurements.

  2. Forward Models Applied in Visual Servoing for a Reaching Task in the iCub Humanoid Robot

    Directory of Open Access Journals (Sweden)

    Daniel Fernando Tello Gamarra

    2009-01-01

    Full Text Available This paper details the application of a forward model to improve a reaching task. The reaching task must be accomplished by a humanoid robot with 53 degrees of freedom (d.o.f. and a stereo-vision system. We have explored via simulations a new way of constructing and utilizing a forward model that encodes eye–hand relationships. We constructed a forward model using the data obtained from only a single reaching attempt. ANFIS neural networks are used to construct the forward model, but the forward model is updated online with new information that comes from each reaching attempt. Using the obtained forward model, an initial image Jacobian is estimated and is used with a visual servoing controller. Simulation results demonstrate that errors are lower when the initial image Jacobian is derived from the forward model. This paper is one of the few attempts at applying visual servoing in a complete humanoid robot.

  3. Development of simulation tools for improvement of measurement accuracy and efficiency in ultrasonic testing. Part 2. Development of fast simulator based on analytical approach

    International Nuclear Information System (INIS)

    Yamada, Hisao; Fukutomi, Hiroyuki; Lin, Shan; Ogata, Takashi

    2008-01-01

    CRIEPI developed a high speed simulation method to predict B scope images for crack-like defects under ultrasonic testing. This method is based on the geometrical theory of diffraction (GTD) to follow ultrasonic waves transmitted from the angle probe and with the aid of reciprocity relations to find analytical equations to express echoes received by the probe. The tip and mirror echoes from a slit with an arbitrary angle in the direction of thickness of test article and an arbitrary depth can be calculated by this method. Main object of the study is to develop a high speed simulation tool to gain B scope displays from the crack-like defect. This was achieved for the simple slits in geometry change regions by the prototype software based on the method. Fairy complete B scope images for slits could be obtained by about a minute on a current personal computer. The numerical predictions related to the surface opening slits were in excellent agreement with the relative experimental measurements. (author)

  4. Adaptive-Repetitive Visual-Servo Control of Low-Flying Aerial Robots via Uncalibrated High-Flying Cameras

    Science.gov (United States)

    Guo, Dejun; Bourne, Joseph R.; Wang, Hesheng; Yim, Woosoon; Leang, Kam K.

    2017-08-01

    This paper presents the design and implementation of an adaptive-repetitive visual-servo control system for a moving high-flying vehicle (HFV) with an uncalibrated camera to monitor, track, and precisely control the movements of a low-flying vehicle (LFV) or mobile ground robot. Applications of this control strategy include the use of high-flying unmanned aerial vehicles (UAVs) with computer vision for monitoring, controlling, and coordinating the movements of lower altitude agents in areas, for example, where GPS signals may be unreliable or nonexistent. When deployed, a remote operator of the HFV defines the desired trajectory for the LFV in the HFV's camera frame. Due to the circular motion of the HFV, the resulting motion trajectory of the LFV in the image frame can be periodic in time, thus an adaptive-repetitive control system is exploited for regulation and/or trajectory tracking. The adaptive control law is able to handle uncertainties in the camera's intrinsic and extrinsic parameters. The design and stability analysis of the closed-loop control system is presented, where Lyapunov stability is shown. Simulation and experimental results are presented to demonstrate the effectiveness of the method for controlling the movement of a low-flying quadcopter, demonstrating the capabilities of the visual-servo control system for localization (i.e.,, motion capturing) and trajectory tracking control. In fact, results show that the LFV can be commanded to hover in place as well as track a user-defined flower-shaped closed trajectory, while the HFV and camera system circulates above with constant angular velocity. On average, the proposed adaptive-repetitive visual-servo control system reduces the average RMS tracking error by over 77% in the image plane and over 71% in the world frame compared to using just the adaptive visual-servo control law.

  5. A Study on the Air Vent Valve of the Hydraulic Servo Actuator for Steam Control of Power Plants

    International Nuclear Information System (INIS)

    Lee, Yong Bum; Lee, Jong Jik

    2016-01-01

    To produce adequate electricity in nuclear and thermal power plants, an optimal amount of steam should be supplied to a generator connected to high- and low-pressure steam turbines. A turbine output control device, which is a special steam valve employed to supply or interrupt the steam to the turbine, is operated using a hydraulic servo actuator. In power plants, the performance of servo actuators is degraded by the air generated from the hydraulic system, or causes frequent failures owing to an increase in the wear of the seal. This is due to the seal being burnt as generated heat using the produced compressed air. Some power plants have exhausted air using a fixed orifice, and thus they encounter power loss due to mass flow exhaust. Failures are generated in hydraulic pumps, electric motors, and valves, which are frequently operated. In this study, we perform modeling and analysis of the load-sensing air-exhaust valves, which can be passed through very fine flow under normal use conditions, and exhaust mass flow air at the beginning stage as with existing fixed orifices. Then, we propose a method to prevent failures due to the compressed air, and to ensure the control accuracy of hydraulic servo actuators.

  6. Turbofan Volume Dynamics Model for Investigations of Aero-Propulso-Servo-Elastic Effects in a Supersonic Commercial Transport

    Science.gov (United States)

    Connolly, Joseph W.; Kopasakis, George; Lemon, Kimberly A.

    2010-01-01

    A turbofan simulation has been developed for use in aero-propulso-servo-elastic coupling studies, on supersonic vehicles. A one-dimensional lumped volume approach is used whereby each component (fan, high-pressure compressor, combustor, etc.) is represented as a single volume using characteristic performance maps and conservation equations for continuity, momentum and energy. The simulation is developed in the MATLAB/SIMULINK (The MathWorks, Inc.) environment in order to facilitate controls development, and ease of integration with a future aero-servo-elastic vehicle model being developed at NASA Langley. The complete simulation demonstrated steady state results that closely match a proposed engine suitable for a supersonic business jet at the cruise condition. Preliminary investigation of the transient simulation revealed expected trends for fuel flow disturbances as well as upstream pressure disturbances. A framework for system identification enables development of linear models for controller design. Utilizing this framework, a transfer function modeling an upstream pressure disturbance s impacts on the engine speed is developed as an illustrative case of the system identification. This work will eventually enable an overall vehicle aero-propulso-servo-elastic model

  7. Bi-level positive pressure ventilation and adaptive servo ventilation in patients with heart failure and Cheyne-Stokes respiration.

    Science.gov (United States)

    Fietze, Ingo; Blau, Alexander; Glos, Martin; Theres, Heinz; Baumann, Gert; Penzel, Thomas

    2008-08-01

    Nocturnal positive pressure ventilation (PPV) has been shown to be effective in patients with impaired left ventricular ejection fraction (LVEF) and Cheyne-Stokes respiration (CSR). We investigated the effect of a bi-level PPV and adaptive servo ventilation on LVEF, CSR, and quantitative sleep quality. Thirty-seven patients (New York heart association [NYHA] II-III) with LVEFCSR were investigated by electrocardiography (ECG), echocardiography and polysomnography. The CSR index (CSRI) was 32.3+/-16.2/h. Patients were randomly treated with bi-level PPV using the standard spontaneous/timed (S/T) mode or with adaptive servo ventilation mode (AutoSetCS). After 6 weeks, 30 patients underwent control investigations with ECG, echocardiography, and polysomnography. The CSRI decreased significantly to 13.6+/-13.4/h. LVEF increased significantly after 6 weeks of ventilation (from 25.1+/-8.5 to 28.8+/-9.8%, plevel PPV and adaptive servo ventilation: the CSRI decreased more in the AutoSetCS group while the LVEF increased more in the bi-level PPV group. Administration of PPV can successfully attenuate CSA. Reduced CSA may be associated with improved LVEF; however, this may depend on the mode of PPV. Changed LVEF is evident even in the absence of significant changes in blood pressure.

  8. Real Time Implementation of PID and Fuzzy PD Controllers for DC-Servo Motor Based on Lab View Environment

    Directory of Open Access Journals (Sweden)

    Safaa M. Z. Al-Ubaidi

    2012-06-01

    Full Text Available This paper presents an implementation of conventional PID (CPID controller using Ziegler-Nichols rules and fuzzy PD (FPD controller for position servo motor control based on Lab View (Laboratory Virtual Instrument Engineering Workbench Environment through Data Acquisition (DAQ Device PCI- 6521 of National Instrument's and Data Acquisition Accessory Board Model (CB-68LP.CPID controller is perhaps the most well-known and most widely used in industrial applications. However, it has been known that CPID controller generally don’t work well for non-linear systems, higher order and time-delayed linear system and particularly complex and vague system. To overcome these difficulties, this paper proposes to use the FPD controller for a servo motor system instead of CPID. The parameters of servo motor used are completely unknown. The FPD structure has two-input single-output and fairly similar characteristic to its conventional counterpart and provides good performance. Simple rules base are used for FPD (nine rules only. Performance evaluation was carried out via a comparison study for the proposed control scheme and other existing control scheme, such as CPID controller. The critical point for this experiment on position system is a steady state error and settling time.  The performance showing that the FPD has less settling time and zero steady state error over its CPID. The algorithms of FPD and CPID controllers are implemented using PID, Fuzzy Logic and simulation toolkits of the Lab View environment.

  9. A new approach to control of xenon spatial oscillation during load follow operation via robust servo systems

    International Nuclear Information System (INIS)

    Ukai, Hiroyuki; Iwazumi, Tetsuo

    1994-01-01

    The control problem of xenon-induced spatial oscillations of PWR in the axial direction during a load following operation is investigated. The system models are described by a one-group diffusion equation with xenon and temperature feed-backs, iodine and xenon dynamic equations, and heat conductions processes. Control is implemented by the full-length and the part-length control rods and the boron concentration. In order to achieve the control purpose, control models are formulated as the design problem of robust servo systems for distributed parameter reactor systems. The total thermal power and the axial offset are chosen as outputs to be controlled. The control systems consist of servo compensators and stabilizing compensators. They are designed based on the finite-dimensional systems which are constructed by linearizing around steady states, approximately by the Galerkin method, and reducing dimensions via the singular perturbation method. A new and simple computational algorithm to obtain an approximate solution of a steady-state neutron balance is developed via the perturbation method. Some results of numerical simulations are shown in order to discuss the effectiveness of the theory developed in this paper. In particular, it is shown that the designed servo systems are robust against model errors with linearization and modal truncation

  10. A Study on the Air Vent Valve of the Hydraulic Servo Actuator for Steam Control of Power Plants

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Yong Bum; Lee, Jong Jik [Korea Institute of Machinery and Materials, Daejeon (Korea, Republic of)

    2016-06-15

    To produce adequate electricity in nuclear and thermal power plants, an optimal amount of steam should be supplied to a generator connected to high- and low-pressure steam turbines. A turbine output control device, which is a special steam valve employed to supply or interrupt the steam to the turbine, is operated using a hydraulic servo actuator. In power plants, the performance of servo actuators is degraded by the air generated from the hydraulic system, or causes frequent failures owing to an increase in the wear of the seal. This is due to the seal being burnt as generated heat using the produced compressed air. Some power plants have exhausted air using a fixed orifice, and thus they encounter power loss due to mass flow exhaust. Failures are generated in hydraulic pumps, electric motors, and valves, which are frequently operated. In this study, we perform modeling and analysis of the load-sensing air-exhaust valves, which can be passed through very fine flow under normal use conditions, and exhaust mass flow air at the beginning stage as with existing fixed orifices. Then, we propose a method to prevent failures due to the compressed air, and to ensure the control accuracy of hydraulic servo actuators.

  11. Steady flow torques in a servo motor operated rotary directional control valve

    International Nuclear Information System (INIS)

    Wang, He; Gong, Guofang; Zhou, Hongbin; Wang, Wei

    2016-01-01

    Highlights: • A novel servo motor operated rotary directional control valve is proposed. • Steady flow torque is a crucial issue that affects rotary valve performance. • Steady flow torque is analyzed on the aspects of theory, simulation and experiment. • Change law of the steady flow torque with spool rotation angle is explored. • Effect of pressure drop and flow rate on the steady flow torque is studied. - Abstract: In this paper, a servo motor operated rotary directional control valve is proposed, and a systematic analysis of steady flow torques in this valve is provided by theoretical calculation, CFD simulation and experimental test. In the analysis, spool rotation angle corresponding to the maximum orifice opening is tagged as 0°. Over a complete change cycle of the orifice, the range of spool rotation angle is symmetric about 0°. The results show that the direction of steady flow torques in this valve is always the direction of orifice closing. The steady flow torques serve as resistances to the spool rotation when the orifice opening increases, while impetuses to the spool rotation when the orifice opening decreases. At a certain pressure drop or flow rate, steady flow torques are approximately equal and opposite when at spool rotation angles which are symmetric about 0°. When the spool rotates from 0°, at a certain pressure drop, their values increase first then decrease with the spool rotation and reach their maximum values at an angle corresponding to about 1/2 of the maximum orifice opening, and at a certain flow rate, their values increase with the spool rotation. The steady flow torques in this valve are the sums of those in the meter-in and meter-out valve chambers. At a certain spool rotation angle, steady flow torques in the meter-in and meter-out valve chambers are approximately proportional to the pressure drop and the second power of the flow rate through the orifice. Theoretical calculation and CFD simulation can be validated by

  12. The fast encryption package

    Science.gov (United States)

    Bishop, Matt

    1988-01-01

    The organization of some tools to help improve passwork security at a UNIX-based site is described along with how to install and use them. These tools and their associated library enable a site to force users to pick reasonably safe passwords (safe being site configurable) and to enable site management to try to crack existing passworks. The library contains various versions of a very fast implementation of the Data Encryption Standard and of the one-way encryption functions used to encryp the password.

  13. Design and motion control of bioinspired humanoid robot head from servo motors toward artificial muscles

    Science.gov (United States)

    Almubarak, Yara; Tadesse, Yonas

    2017-04-01

    The potential applications of humanoid robots in social environments, motivates researchers to design, and control biomimetic humanoid robots. Generally, people are more interested to interact with robots that have similar attributes and movements to humans. The head is one of most important part of any social robot. Currently, most humanoid heads use electrical motors, pneumatic actuators, and shape memory alloy (SMA) actuators for actuation. Electrical and pneumatic actuators take most of the space and would cause unsmooth motions. SMAs are expensive to use in humanoids. Recently, in many robotic projects, Twisted and Coiled Polymer (TCP) artificial muscles are used as linear actuators which take up little space compared to the motors. In this paper, we will demonstrate the designing process and motion control of a robotic head with TCP muscles. Servo motors and artificial muscles are used for actuating the head motion, which have been controlled by a cost efficient ARM Cortex-M7 based development board. A complete comparison between the two actuators is presented.

  14. A Visual Servoing-Based Method for ProCam Systems Calibration

    Directory of Open Access Journals (Sweden)

    Jeremie Mosnier

    2013-10-01

    Full Text Available Projector-camera systems are currently used in a wide field of applications, such as 3D reconstruction and augmented reality, and can provide accurate measurements, depending on the configuration and calibration. Frequently, the calibration task is divided into two steps: camera calibration followed by projector calibration. The latter still poses certain problems that are not easy to solve, such as the difficulty in obtaining a set of 2D–3D points to compute the projection matrix between the projector and the world. Existing methods are either not sufficiently accurate or not flexible. We propose an easy and automatic method to calibrate such systems that consists in projecting a calibration pattern and superimposing it automatically on a known printed pattern. The projected pattern is provided by a virtual camera observing a virtual pattern in an OpenGL model. The projector displays what the virtual camera visualizes. Thus, the projected pattern can be controlled and superimposed on the printed one with the aid of visual servoing. Our experimental results compare favorably with those of other methods considering both usability and accuracy.

  15. Disturbance torque rejection properties of the NASA/JPL 70-meter antenna axis servos

    Science.gov (United States)

    Hill, R. E.

    1989-01-01

    Analytic methods for evaluating pointing errors caused by external disturbance torques are developed and applied to determine the effects of representative values of wind and friction torque. The expressions relating pointing errors to disturbance torques are shown to be strongly dependent upon the state estimator parameters, as well as upon the state feedback gain and the flow versus pressure characteristics of the hydraulic system. Under certain conditions, when control is derived from an uncorrected estimate of integral position error, the desired type 2 servo properties are not realized and finite steady-state position errors result. Methods for reducing these errors to negligible proportions through the proper selection of control gain and estimator correction parameters are demonstrated. The steady-state error produced by a disturbance torque is found to be directly proportional to the hydraulic internal leakage. This property can be exploited to provide a convenient method of determining system leakage from field measurements of estimator error, axis rate, and hydraulic differential pressure.

  16. Propulsion System Dynamic Modeling for the NASA Supersonic Concept Vehicle: AeroPropulsoServoElasticity

    Science.gov (United States)

    Kopasakis, George; Connolly, Joseph; Seidel, Jonathan

    2014-01-01

    A summary of the propulsion system modeling under NASA's High Speed Project (HSP) AeroPropulsoServoElasticity (APSE) task is provided with a focus on the propulsion system for the low-boom supersonic configuration developed by Lockheed Martin and referred to as the N+2 configuration. This summary includes details on the effort to date to develop computational models for the various propulsion system components. The objective of this paper is to summarize the model development effort in this task, while providing more detail in the modeling areas that have not been previously published. The purpose of the propulsion system modeling and the overall APSE effort is to develop an integrated dynamic vehicle model to conduct appropriate unsteady analysis of supersonic vehicle performance. This integrated APSE system model concept includes the propulsion system model, and the vehicle structural-aerodynamics model. The development to date of such a preliminary integrated model will also be summarized in this report.propulsion system dynamics, the structural dynamics, and aerodynamics.

  17. Application of Automatic Zooming and Autofocusing in Microassembly using Visual Servoing

    International Nuclear Information System (INIS)

    Jang, Kyung-Nam; Kim, Jong-Seog

    2006-01-01

    In recent years, many industrial products and their components are evolving toward miniaturization. To have more functionalities within less dimensional volume, they are usually made of various materials with different characteristics, and they are manufactured using incompatible manufacturing processes with complex geometrical shapes. For these reasons, the assembly technique for mating micro-parts so called microassembly has become important for advanced manufacturing and drawn extensive research interest. Currently, due to various difficulties arising from handling of extremely small size parts, manual assembly method has been widely used. Since this manual method is somehow timeconsuming and not productive enough, automation of micro-assembly has become an essential part for micro parts manufacturing. As an alternative, the vision sensor is widely used in microassembly. The vision sensor has a wide field of view, and it can obtain the wide range data with high speed without contact. In the previous research works, the orientation of the mating parts has not been considered for corrective motion, and, furthermore, the developed vision systems are not adaptive to accommodate various sizes of the mated parts to avoid such criticism, we propose a visual feedback system that accommodates micro parts of various sizes and parts arbitrarily oriented. In this paper, the system that employs adaptive zooming and auto focusing techniques during visual servoing is described

  18. Real-time markerless tracking for augmented reality: the virtual visual servoing framework.

    Science.gov (United States)

    Comport, Andrew I; Marchand, Eric; Pressigout, Muriel; Chaumette, François

    2006-01-01

    Tracking is a very important research subject in a real-time augmented reality context. The main requirements for trackers are high accuracy and little latency at a reasonable cost. In order to address these issues, a real-time, robust, and efficient 3D model-based tracking algorithm is proposed for a "video see through" monocular vision system. The tracking of objects in the scene amounts to calculating the pose between the camera and the objects. Virtual objects can then be projected into the scene using the pose. Here, nonlinear pose estimation is formulated by means of a virtual visual servoing approach. In this context, the derivation of point-to-curves interaction matrices are given for different 3D geometrical primitives including straight lines, circles, cylinders, and spheres. A local moving edges tracker is used in order to provide real-time tracking of points normal to the object contours. Robustness is obtained by integrating an M-estimator into the visual control law via an iteratively reweighted least squares implementation. This approach is then extended to address the 3D model-free augmented reality problem. The method presented in this paper has been validated on several complex image sequences including outdoor environments. Results show the method to be robust to occlusion, changes in illumination, and mistracking.

  19. Servo-Elastic Dynamics of a Hydraulic Actuator Pitching a Blade with Large Deflections

    International Nuclear Information System (INIS)

    Hansen, M H; Kallesoee, B S

    2007-01-01

    This paper deals with the servo-elastic dynamics of a hydraulic pitch actuator acting on a largely bend wind turbine blade. The compressibility of the oil and flexibility of the hoses introduce a dynamic mode in the pitch bearing degree of freedom. This mode may obtain negative damping if the proportional gain on the actuator position error is defined too large relative to the viscous forces in the hydraulic system and the total rotational inertia of the pitch bearing degree of freedom. A simple expression for the stability limit of this proportional gain is derived for tuning the gain based on the Ziegler-Nichols method. Computed transfer functions from reference to actual pitch angles indicate that the actuator can be approximated as a low-pass filter with some appropriate limitations on pitching speed and acceleration. The structural blade model includes the geometrical coupling of edgewise bending and torsion for large flapwise deflections. This coupling is shown to introduce edgewise bending response for pitch reference oscillations around the natural frequency of the edgewise bending mode, in which frequency range the transfer function from reference to actual pitch angle cannot be modeled as a simple low-pass filter. The pitch bearing is assumed to be frictionless as a first approximation

  20. A versatile hydraulically operated respiratory servo system for ventilation and lung function testing.

    Science.gov (United States)

    Meyer, M; Slama, H

    1983-09-01

    A description is given of the design and performance of a microcomputer-controlled respiratory servo system that incorporates the characteristics of a mechanical ventilator and also allows the performance of a multitude of test procedures required for assessment of pulmonary function in paralyzed animals. The device consists of a hydraulically operated cylinder-piston assembly and solenoid valves that direct inspiratory and expiratory gas flow and also enable switching to different test gas sources. The system operates as a volume-flow-preset ventilator but may be switched to other operational cycling modes. Gas flow rates may be constant or variable. The system operates as an assister-controller and, combined with a gas analyzer, can function as a "demand" ventilator allowing for set-point control of end-tidal PCO2 and PO2. Complex breathing maneuvers for a variety of single- and multiple-breath lung function tests are automatically performed. Because of the flexibility in selection and timing of respiratory parameters, the system is particularly suitable for respiratory gas studies.

  1. Practical Stabilization of Uncertain Nonholonomic Mobile Robots Based on Visual Servoing Model with Uncalibrated Camera Parameters

    Directory of Open Access Journals (Sweden)

    Hua Chen

    2013-01-01

    Full Text Available The practical stabilization problem is addressed for a class of uncertain nonholonomic mobile robots with uncalibrated visual parameters. Based on the visual servoing kinematic model, a new switching controller is presented in the presence of parametric uncertainties associated with the camera system. In comparison with existing methods, the new design method is directly used to control the original system without any state or input transformation, which is effective to avoid singularity. Under the proposed control law, it is rigorously proved that all the states of closed-loop system can be stabilized to a prescribed arbitrarily small neighborhood of the zero equilibrium point. Furthermore, this switching control technique can be applied to solve the practical stabilization problem of a kind of mobile robots with uncertain parameters (and angle measurement disturbance which appeared in some literatures such as Morin et al. (1998, Hespanha et al. (1999, Jiang (2000, and Hong et al. (2005. Finally, the simulation results show the effectiveness of the proposed controller design approach.

  2. PID-Controller Tuning Optimization with Genetic Algorithms in Servo Systems

    Directory of Open Access Journals (Sweden)

    Arturo Y. Jaen-Cuellar

    2013-09-01

    Full Text Available Performance improvement is the main goal of the study of PID control and much research has been conducted for this purpose. The PID filter is implemented in almost all industrial processes because of its well-known beneficial features. In general, the whole system's performance strongly depends on the controller's efficiency and hence the tuning process plays a key role in the system's behaviour. In this work, the servo systems will be analysed, specifically the positioning control systems. Among the existent tuning methods, the Gain-Phase Margin method based on Frequency Response analysis is the most adequate for controller tuning in positioning control systems. Nevertheless, this method can be improved by integrating an optimization technique. The novelty of this work is the development of a new methodology for PID control tuning by coupling the Gain-Phase Margin method with the Genetic Algorithms in which the micro-population concept and adaptive mutation probability are applied. Simulations using a positioning system model in MATLAB and experimental tests in two CNC machines and an industrial robot are carried out in order to show the effectiveness of the proposal. The obtained results are compared with both the classical Gain-Phase Margin tuning and with a recent PID controller optimization using Genetic Algorithms based on real codification. The three methodologies are implemented using software.

  3. Novel Round Energy Director for Use with Servo-driven Ultrasonic Welder

    Science.gov (United States)

    Savitski, Alex; Klinstein, Leo; Holt, Kenneth

    Increasingly stringent process repeatability and precision of assembly requirements are common for high-volume manufacturing for electronic, automotive and especially medical device industries, in which components for disposable medication delivery devices are produced in hundreds of millions annually. Ultrasonic welding, one of the most efficient of plastic welding processes often joins these small plastic parts together, and quite possibly, the one most broadly adopted for high volume assembly. The very fundamental factor in ultrasonic welding process performance is a proper joint design, the most common of which is a design utilizing an energy director. Keeping the energy director size and shape consistent on a part-to-part basis in high volume, multi-cavity operations presents a constant challenge to molded part vendors, as dimensional variations from cavity to cavity and variations in the molding process are always present. A newly developed concept of energy director design, when the tip of the energy director is round, addresses these problems, as the round energy director is significantly easier to mold and maintain its dimensional consistency. It also eliminates a major source of process variability for assembly operations. Materializing the benefits of new type of joint design became possible with the introduction of servo-driven ultrasonic welders, which allow an unprecedented control of material flow during the welding cycle and results in significantly improved process repeatability. This article summarizes results of recent studies focused on evaluating performance of round energy director and investigating the main factors responsible for the joint quality.

  4. Optimal design of a main driving mechanism for servo punch press based on performance atlases

    Science.gov (United States)

    Zhou, Yanhua; Xie, Fugui; Liu, Xinjun

    2013-09-01

    The servomotor drive turret punch press is attracting more attentions and being developed more intensively due to the advantages of high speed, high accuracy, high flexibility, high productivity, low noise, cleaning and energy saving. To effectively improve the performance and lower the cost, it is necessary to develop new mechanisms and establish corresponding optimal design method with uniform performance indices. A new patented main driving mechanism and a new optimal design method are proposed. In the optimal design, the performance indices, i.e., the local motion/force transmission indices ITI, OTI, good transmission workspace good transmission workspace(GTW) and the global transmission indices GTIs are defined. The non-dimensional normalization method is used to get all feasible solutions in dimensional synthesis. Thereafter, the performance atlases, which can present all possible design solutions, are depicted. As a result, the feasible solution of the mechanism with good motion/force transmission performance is obtained. And the solution can be flexibly adjusted by designer according to the practical design requirements. The proposed mechanism is original, and the presented design method provides a feasible solution to the optimal design of the main driving mechanism for servo punch press.

  5. A comparative design view for accurate control of servos using a field programmable gate array

    International Nuclear Information System (INIS)

    Tickle, A J; Harvey, P K; Smith, J S; Wu, F; Buckle, J R

    2009-01-01

    An embedded system is a special-purpose computer system designed to perform one or a few dedicated functions. Altera DSP Builder presents designers and users with an alternate approach when creating their systems by employing a blockset similar to that already used in Simulink. The application considered in this paper is the design of a Pulse Width Modulation (PWM) system for use in stereo vision. PWM can replace a digital-to-analogue converter to control audio speakers, LED intensity, motor speed, and servo position. Rather than the conventional HDL coding approach this Simulink approach provides an easy understanding platform to the PWM design. This paper includes a comparison between two approaches regarding resource usage and flexibility etc. Included is how DSP Builder manipulates an onboard clock signal, in order to create the control pulses to the 'raw' coding of a PWM generator in VHDL. Both methods were shown to a selection of people and their views on which version they would subsequently use in their relative fields is discussed.

  6. Fracture tolerance analysis of the solid rocket booster servo-actuator for the space shuttle

    Energy Technology Data Exchange (ETDEWEB)

    Smith, S.H.; Ghadiali, N.D.; Zahoor, A.; Wilson, M.R.

    1982-01-01

    The results of an evaluation of the fracture tolerance of three components of the thrust vector control servo-actuator for the solid rocket booster of the space shuttle are described. These components were considered as being potentially fracture critical and therefore having the potential to fall short of a desired service life of 80 missions (that is, a service life factor of 4.0 on a basic service life of 20 missions). Detailed stress analysis of the rod end, cylinder, and feedback link components was accomplished by three-dimensional finite-element stress analysis methods. A dynamic structural model of the feedback system was used to determine the dynamic inertia loads and reactions to apply to the finite-element model of the feedback link. Twenty mission stress spectra consisting of lift-off, boost, re-entry, and water impact mission segments were developed for each component based on dynamic loadings. Most components were determined to have the potential of reaching a service life of 80 missions or service life factor of 4.0. 22 refs.

  7. Indirect adaptive fuzzy wavelet neural network with self- recurrent consequent part for AC servo system.

    Science.gov (United States)

    Hou, Runmin; Wang, Li; Gao, Qiang; Hou, Yuanglong; Wang, Chao

    2017-09-01

    This paper proposes a novel indirect adaptive fuzzy wavelet neural network (IAFWNN) to control the nonlinearity, wide variations in loads, time-variation and uncertain disturbance of the ac servo system. In the proposed approach, the self-recurrent wavelet neural network (SRWNN) is employed to construct an adaptive self-recurrent consequent part for each fuzzy rule of TSK fuzzy model. For the IAFWNN controller, the online learning algorithm is based on back propagation (BP) algorithm. Moreover, an improved particle swarm optimization (IPSO) is used to adapt the learning rate. The aid of an adaptive SRWNN identifier offers the real-time gradient information to the adaptive fuzzy wavelet neural controller to overcome the impact of parameter variations, load disturbances and other uncertainties effectively, and has a good dynamic. The asymptotical stability of the system is guaranteed by using the Lyapunov method. The result of the simulation and the prototype test prove that the proposed are effective and suitable. Copyright © 2017. Published by Elsevier Ltd.

  8. An energy-saving nonlinear position control strategy for electro-hydraulic servo systems.

    Science.gov (United States)

    Baghestan, Keivan; Rezaei, Seyed Mehdi; Talebi, Heidar Ali; Zareinejad, Mohammad

    2015-11-01

    The electro-hydraulic servo system (EHSS) demonstrates numerous advantages in size and performance compared to other actuation methods. Oftentimes, its utilization in industrial and machinery settings is limited by its inferior efficiency. In this paper, a nonlinear backstepping control algorithm with an energy-saving approach is proposed for position control in the EHSS. To achieve improved efficiency, two control valves including a proportional directional valve (PDV) and a proportional relief valve (PRV) are used to achieve the control objectives. To design the control algorithm, the state space model equations of the system are transformed to their normal form and the control law through the PDV is designed using a backstepping approach for position tracking. Then, another nonlinear set of laws is derived to achieve energy-saving through the PRV input. This control design method, based on the normal form representation, imposes internal dynamics on the closed-loop system. The stability of the internal dynamics is analyzed in special cases of operation. Experimental results verify that both tracking and energy-saving objectives are satisfied for the closed-loop system. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  9. Evaluation of the Argonne National Laboratory servo-controlled calorimeter system

    International Nuclear Information System (INIS)

    Foster, L.A.

    1997-01-01

    The control system of a replacement mode, twin-bridge, water-bath calorimeter originally built by Mound EG ampersand G Applied Technologies was modified by Argonne National Laboratory. The calorimeter was upgraded with a PC-based computer control and data acquisition system. The system was redesigned to operate in a servo-control mode, and a preheater was constructed to allow pre-equilibration of samples. The instrument was sent to the Plutonium Facility at Los Alamos National Laboratory for testing and evaluation of its performance in the field using heat source standards and plutonium process materials. The important parameters for calorimeter operation necessary to satisfy the nuclear materials control and accountability requirements of the Plutonium Facility were evaluated over a period of several months. These parameters include calorimeter stability, measurement precision and accuracy, and average measurement time. The observed measurement precision and accuracy were found to be acceptable for most accountability measurements, although they were slightly larger than the values for calorimeters in routine use at the Plutonium Facility. Average measurement times were significantly shorter than measurement times for identical items in the Plutonium Facility calorimeters. Unexplained shifts in the baseline measurements were observed on numerous occasions. These shifts could lead to substantial measurement errors if they are not very carefully monitored by the operating facility. Detailed results of the experimental evaluation are presented in this report

  10. All-Coefficient Adaptive Control of Dual-Motor Driving Servo System

    Directory of Open Access Journals (Sweden)

    Zhao Haibo

    2017-01-01

    Full Text Available Backlash nonlinearity and friction nonlinearity exist in dual-motor driving servo system, which reducing system response speed, steady accuracy and anti-interference ability. In order to diminish the adverse effects of backlash and friction nonlinearity to system, we proposed a new all-coefficient adaptive control method. Firstly, we introduced the dynamic model of backlash and friction nonlinearity respectively. Then on this basis, we established the characteristic model when backlash and friction nonlinearity coexist. We used recursive least square method for parameter estimation. Finally we designed the all-coefficient adaptive controller. On the basis of simplex all-coefficient adaptive controller, we designed a feedforward all-coefficient adaptive controller. The simulations of feedforward all-coefficient adaptive control and simplex all-coefficient adaptive control were compared. The results show that the former has quicker response speed, higher steady accuracy, stronger anti-interference performance and better robustness, which validating the efficacy of the proposed control strategy.

  11. Fast reactors

    International Nuclear Information System (INIS)

    Vasile, A.

    2001-01-01

    Fast reactors have capacities to spare uranium natural resources by their breeding property and to propose solutions to the management of radioactive wastes by limiting the inventory of heavy nuclei. This article highlights the role that fast reactors could play for reducing the radiotoxicity of wastes. The conversion of 238 U into 239 Pu by neutron capture is more efficient in fast reactors than in light water reactors. In fast reactors multi-recycling of U + Pu leads to fissioning up to 95% of the initial fuel ( 238 U + 235 U). 2 strategies have been studied to burn actinides: - the multi-recycling of heavy nuclei is made inside the fuel element (homogeneous option); - the unique recycling is made in special irradiation targets placed inside the core or at its surroundings (heterogeneous option). Simulations have shown that, for the same amount of energy produced (400 TWhe), the mass of transuranium elements (Pu + Np + Am + Cm) sent to waste disposal is 60,9 Kg in the homogeneous option and 204.4 Kg in the heterogeneous option. Experimental programs are carried out in Phenix and BOR60 reactors in order to study the feasibility of such strategies. (A.C.)

  12. Fast ejendom

    DEFF Research Database (Denmark)

    Pagh, Peter

    Bogen omfatter en gennemgang af lovgivning, praksis og teori vedrørende køb af fast ejendom og offentligretlig og privatretlig regulering. Bogen belyser bl.a. de privatretlige emner: købers misligholdelsesbeføjelser, servitutter, naboret, hævd og erstatningsansvar for miljøskader samt den...

  13. Evaluation and compensation of steady gas flow force on the high-pressure electro-pneumatic servo valve direct-driven by voice coil motor

    International Nuclear Information System (INIS)

    Li, Baoren; Gao, Longlong; Yang, Gang

    2013-01-01

    Highlights: ► A novel energy saving high-pressure electro-pneumatic servo valve is presented. ► An evaluated method for steady gas flow forces on pneumatic valves is proposed. ► Gas jet angles at the orifices for the valve are larger than 69° commonly used. ► The steady gas flow force is strongly nonlinear with valve opening. ► The steady gas flow force is compensated and the aim at energy saving is realized. - Abstract: A novel voice coil motor (VCM) direct drive single stage high-pressure pneumatic servo valve is designed, and then the steady gas flow force acting on the spool of the servo valve is investigated by numerical simulation and experimental methods in this paper. At present, many studies about flow force are concentrated mainly on hydraulic valves, but rarely on pneumatic valves. However, the velocity of gas is up to sonic when high-pressure gas flows through the servo valve orifice. And therefore, the steady gas flow force, generated by high pressure and high speed gas flow, cannot be neglected and is an important disturbance for the VCM direct-drive single stage high-pressure pneumatic servo valve. Consequently, the numerical simulation with computational fluid dynamics (CFD) is adopted to analyze the flow filed, jet angles, and steady gas flow forces for the servo valve with different valve openings and inlet pressures. The experimental study is performed to evaluate and confirm the numerical analysis. Then the compensated approach is proposed to reduce the steady gas flow force for the servo valve, changing the angle of non-metering port designed in the valve sleeve to the spool axis. The results demonstrate that the presented numerical analysis method is validated, the gas jet angle for the servo valve orifice is more than 69° and varies with different spool openings, and the steady gas flow force is nonlinear with valve opening and linear with inlet pressure when the outlet boundary is atmospheric pressure. Moreover, the steady gas

  14. Role of therapeutic fasting in women's health: An overview

    OpenAIRE

    Pradeep M.K Nair; Pranav G Khawale

    2016-01-01

    Fasting is a therapeutic tool practiced since millennia by different cultures and medical systems heterogeneously. PubMed and Google Scholar search engines were searched using the keywords ?fasting,? ?intermittent fasting,? ?calorie restriction,? ?women?s health,? ?women?s disorders,? ?fasting and aging,? and ?fasting and health.? All the animal and human studies which address women?s health and disorders were included in the review. Fasting has shown to improve the reproductive and mental he...

  15. Development and performance tests of the bridge-transported servo manipulator system for remote maintenance jobs in a hot cell

    International Nuclear Information System (INIS)

    Jin, Jae Hyun; Park, Byung Suk; Ko, Byung Seung; Yoon, Ji Sup; Jung, Ki Jung

    2005-01-01

    In this paper, a prototype of the Bridge-Transported Servo Manipulator (BTSM) system introduced, which has been developed to do operation and maintenance jobs remotely in a hot cell. The system consists of a telescopic transporter, a slave arm, a master arm, and a control system. Several tests such as a positional tracking, a weight handling, reliability, and operability have been performed and test results are presented. Based on the test results, an upgraded system which will be used during demonstrations of the advanced spent fuel conditioning process (ACP) has been designed.

  16. Smart rotor modeling aero-servo-elastic modeling of a smart rotor with adaptive trailing edge flaps

    CERN Document Server

    Bergami, Leonardo

    2014-01-01

    A smart rotor is a wind turbine rotor that, through a combination of sensors, control units and actuators actively reduces the variation of the aerodynamic loads it has to withstand. Smart rotors feature?promising load alleviation potential and might provide the technological breakthrough required by the next generation of large wind turbine rotors.The book presents the aero-servo-elastic model of a smart rotor with Adaptive Trailing Edge Flaps for active load alleviation and provides an insight on the rotor aerodynamic, structural and control modeling. A novel model for the unsteady aerodynam

  17. Fast geometric algorithms

    International Nuclear Information System (INIS)

    Noga, M.T.

    1984-01-01

    This thesis addresses a number of important problems that fall within the framework of the new discipline of Computational Geometry. The list of topics covered includes sorting and selection, convex hull algorithms, the L 1 hull, determination of the minimum encasing rectangle of a set of points, the Euclidean and L 1 diameter of a set of points, the metric traveling salesman problem, and finding the superrange of star-shaped and monotype polygons. The main theme of all the work was to develop a set of very fast state-of-the-art algorithms that supersede any rivals in terms of speed and ease of implementation. In some cases existing algorithms were refined; for others new techniques were developed that add to the present database of fast adaptive geometric algorithms. What emerges is a collection of techniques that is successful at merging modern tools developed in analysis of algorithms with those of classical geometry

  18. Modeling and Parameter Identification of the Vibration Characteristics of Armature Assembly in a Torque Motor of Hydraulic Servo Valves under Electromagnetic Excitations

    Directory of Open Access Journals (Sweden)

    Jinghui Peng

    2014-07-01

    Full Text Available The resonance of the armature assembly is the main problem leading to the fatigue of the spring pipe in a torque motor of hydraulic servo valves, which can cause the failure of servo valves. To predict the vibration characteristics of the armature assembly, this paper focuses on the mathematical modeling of the vibration characteristics of armature assembly in a hydraulic servo valve and the identification of parameters in the models. To build models more accurately, the effect of the magnetic spring is taken into account. Vibration modal analysis is performed to obtain the mode shapes and natural frequencies, which are necessary to implement the identification of damping ratios in the mathematical models. Based on the mathematical models for the vibration characteristics, the harmonic responses of the armature assembly are analyzed using the finite element method and measured under electromagnetic excitations. The simulation results agree well with the experimental studies.

  19. Development of X-Y servo pneumatic-piezoelectric hybrid actuators for position control with high response, large stroke and nanometer accuracy.

    Science.gov (United States)

    Chiang, Mao-Hsiung

    2010-01-01

    This study aims to develop a X-Y dual-axial intelligent servo pneumatic-piezoelectric hybrid actuator for position control with high response, large stroke (250 mm, 200 mm) and nanometer accuracy (20 nm). In each axis, the rodless pneumatic actuator serves to position in coarse stroke and the piezoelectric actuator compensates in fine stroke. Thus, the overall control systems of the single axis become a dual-input single-output (DISO) system. Although the rodless pneumatic actuator has relatively larger friction force, it has the advantage of mechanism for multi-axial development. Thus, the X-Y dual-axial positioning system is developed based on the servo pneumatic-piezoelectric hybrid actuator. In addition, the decoupling self-organizing fuzzy sliding mode control is developed as the intelligent control strategies. Finally, the proposed novel intelligent X-Y dual-axial servo pneumatic-piezoelectric hybrid actuators are implemented and verified experimentally.

  20. Development of X-Y Servo Pneumatic-Piezoelectric Hybrid Actuators for Position Control with High Response, Large Stroke and Nanometer Accuracy

    Directory of Open Access Journals (Sweden)

    Mao-Hsiung Chiang

    2010-03-01

    Full Text Available This study aims to develop a X-Y dual-axial intelligent servo pneumatic-piezoelectric hybrid actuator for position control with high response, large stroke (250 mm, 200 mm and nanometer accuracy (20 nm. In each axis, the rodless pneumatic actuator serves to position in coarse stroke and the piezoelectric actuator compensates in fine stroke. Thus, the overall control systems of the single axis become a dual-input single-output (DISO system. Although the rodless pneumatic actuator has relatively larger friction force, it has the advantage of mechanism for multi-axial development. Thus, the X-Y dual-axial positioning system is developed based on the servo pneumatic-piezoelectric hybrid actuator. In addition, the decoupling self-organizing fuzzy sliding mode control is developed as the intelligent control strategies. Finally, the proposed novel intelligent X-Y dual-axial servo pneumatic-piezoelectric hybrid actuators are implemented and verified experimentally.

  1. Application of a 16-bit microprocessor to the digital control of machine tools

    International Nuclear Information System (INIS)

    Issaly, Alain

    1979-01-01

    After an overview of machine tools (various types, definition standardization, associated technologies for motors and position sensors), this research thesis describes the principles of computer-based digital control: classification of machine tool command systems, machining programming, programming languages, dialog function, interpolation function, servo-control function, tool compensation function. The author reports the application of a 16-bit microprocessor to the computer-based digital control of a machine tool: feasibility, selection of microprocessor, hardware presentation, software development and description, machining mode, translation-loading mode

  2. Fast tomosynthesis

    International Nuclear Information System (INIS)

    Klotz, E.; Linde, R.; Tiemens, U.; Weiss, H.

    1978-01-01

    A system has been constructed for fast tomosynthesis, whereby X-ray photographs are made of a single layer of an object. Twenty five X-ray tubes illuminate the object simultaneously at different angles. The resulting coded image is decoded by projecting it with a pattern of lenses that have the same form as the pattern of X-ray tubes. The coded image is optically correlated with the pattern of the sources. The scale of this can be adjusted so that the desired layer of the object is portrayed. Experimental results of its use in a hospital are presented. (C.F.)

  3. Transmission Characteristics on Wire-Driven Links of a Bridge Transported Servo Manipulator for the ACP Equipment Maintenance

    International Nuclear Information System (INIS)

    Park, Byung Suk; Jin, Jae Hyun; Song, Tae Gil; Kim, Sung Hyun; Yoon, Ji Sup

    2004-01-01

    A bridge transported servo manipulator (BTSM) system for the advanced spent fuel conditioning process (ACP) has been developed to overcome the limitation of access, which is a drawback of mechanical master-slave manipulators (MSM) for the equipment maintenance. The servo manipulator is composed of a slave manipulator attached to the telescoping tube sets equipped with the overhead bridge installed at a hot cell and a master manipulator installed at an out-of-hot cell. Each manipulator has 7 degrees-of-freedom (DOF): a body rotation, an upper-arm tilt, a lower-arm tilt, a lower-arm rotation, a wrist pan and tilt, and a grasp motion. A wire-driven mechanism for a lower-arm rotation, a wrist pan and tilt, and a grasp motion of the manipulator has been adopted to increase the handling capacity compared to the manipulator weight and decrease the friction. The main disadvantage of the wire-driven mechanism is that if one link is in motion, other links can be affected. In this paper, the transmission characteristics among the wire-driven links have been formulated to overcome this drawback. The unexpected behaviors are confirmed by analyses of transmission characteristics as well as experiments. Also, the experimental results show that the unexpected behaviors are greatly decreased by the proposed compensation equations

  4. Position Based Visual Servoing control of a Wheelchair Mounter Robotic Arm using Parallel Tracking and Mapping of task objects

    Directory of Open Access Journals (Sweden)

    Alessandro Palla

    2017-05-01

    Full Text Available In the last few years power wheelchairs have been becoming the only device able to provide autonomy and independence to people with motor skill impairments. In particular, many power wheelchairs feature robotic arms for gesture emulation, like the interaction with objects. However, complex robotic arms often require a joystic to be controlled; this feature make the arm hard to be controlled by impaired users. Paradoxically, if the user were able to proficiently control such devices, he would not need them. For that reason, this paper presents a highly autonomous robotic arm, designed in order to minimize the effort necessary for the control of the arm. In order to do that, the arm feature an easy to use human - machine interface and is controlled by Computer Vison algorithm, implementing a Position Based Visual Servoing (PBVS control. It was realized by extracting features by the camera and fusing them with the distance from the target, obtained by a proximity sensor. The Parallel Tracking and Mapping (PTAM algorithm was used to find the 3D position of the task object in the camera reference system. The visual servoing algorithm was implemented in an embedded platform, in real time. Each part of the control loop was developed in Robotic Operative System (ROS Environment, which allows to implement the previous algorithms as different nodes. Theoretical analysis, simulations and in system measurements proved the effectiveness of the proposed solution.

  5. Design of Servo Scheme and Drive Electronics for the Integrated Electrohydraulic Actuation System of RLV-TD

    Science.gov (United States)

    Kurian, Priya C.; Gopinath, Anish; Shinoy, K. S.; Santhi, P.; Sundaramoorthy, K.; Sebastian, Baby; Jaya, B.; Namboodiripad, M. N.; Mookiah, T.

    2017-12-01

    Reusable Launch Vehicle-Technology Demonstrator (RLV-TD) is a system which has the ability to carry a payload from the earth's surface to the outer space more than once. The control actuation forms the major component of the control system and it actuates the control surfaces of the RLV-TD based on the control commands. Eight electro hydraulic actuators were used in RLV-TD for vectoring the control surfaces about their axes. A centralised Hydraulic Power Generating Unit (HPU) was used for powering the eight actuators located in two stages. The actuation system had to work for the longest ever duration of about 850 s for an Indian launch vehicle. High bandwidth requirement from autopilot was met by the servo design using the nonlinear mathematical model. Single Control Electronics which drive four electrohydraulic actuators was developed for each stage. High power electronics with soft start scheme was realized for driving the BLDC motor which is the prime mover for hydraulic pump. Many challenges arose due to single HPU for two stages, uncertainty of aero load, higher bandwidth requirements etc. and provisions were incorporated in the design to successfully overcome them. This paper describes the servo design and control electronics architecture of control actuation system.

  6. Speed tracking control of pneumatic motor servo systems using observation-based adaptive dynamic sliding-mode control

    Science.gov (United States)

    Chen, Syuan-Yi; Gong, Sheng-Sian

    2017-09-01

    This study aims to develop an adaptive high-precision control system for controlling the speed of a vane-type air motor (VAM) pneumatic servo system. In practice, the rotor speed of a VAM depends on the input mass air flow, which can be controlled by the effective orifice area (EOA) of an electronic throttle valve (ETV). As the control variable of a second-order pneumatic system is the integral of the EOA, an observation-based adaptive dynamic sliding-mode control (ADSMC) system is proposed to derive the differential of the control variable, namely, the EOA control signal. In the ADSMC system, a proportional-integral-derivative fuzzy neural network (PIDFNN) observer is used to achieve an ideal dynamic sliding-mode control (DSMC), and a supervisor compensator is designed to eliminate the approximation error. As a result, the ADSMC incorporates the robustness of a DSMC and the online learning ability of a PIDFNN. To ensure the convergence of the tracking error, a Lyapunov-based analytical method is employed to obtain the adaptive algorithms required to tune the control parameters of the online ADSMC system. Finally, our experimental results demonstrate the precision and robustness of the ADSMC system for highly nonlinear and time-varying VAM pneumatic servo systems.

  7. A compound control strategy combining velocity compensation with ADRC of electro-hydraulic position servo control system.

    Science.gov (United States)

    Gao, Bingwei; Shao, Junpeng; Yang, Xiaodong

    2014-11-01

    In order to enhance the anti-jamming ability of electro-hydraulic position servo control system at the same time improve the control precision of the system, a compound control strategy that combines velocity compensation with Active Disturbance Rejection Controller (ADRC) is proposed, and the working principle of the compound control strategy is given. ADRC controller is designed, and the extended state observer is used for observing internal parameters uncertainties and external disturbances, so that the disturbances of the system are suppressed effectively. Velocity compensation controller is designed and the compensation model is derived to further improve the positioning accuracy of the system and to achieve the velocity compensation without disturbance. The compound control strategy is verified by the simulation and experiment respectively, and the simulation and experimental results show that the electro-hydraulic position servo control system with ADRC controller can effectively inhibit the external disturbances, the precise positioning control is realized after introducing the velocity compensation controller, and verify that the compound control strategy is effective. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

  8. Data-driven adaptive fractional order PI control for PMSM servo system with measurement noise and data dropouts.

    Science.gov (United States)

    Xie, Yuanlong; Tang, Xiaoqi; Song, Bao; Zhou, Xiangdong; Guo, Yixuan

    2018-04-01

    In this paper, data-driven adaptive fractional order proportional integral (AFOPI) control is presented for permanent magnet synchronous motor (PMSM) servo system perturbed by measurement noise and data dropouts. The proposed method directly exploits the closed-loop process data for the AFOPI controller design under unknown noise distribution and data missing probability. Firstly, the proposed method constructs the AFOPI controller tuning problem as a parameter identification problem using the modified l p norm virtual reference feedback tuning (VRFT). Then, iteratively reweighted least squares is integrated into the l p norm VRFT to give a consistent compensation solution for the AFOPI controller. The measurement noise and data dropouts are estimated and eliminated by feedback compensation periodically, so that the AFOPI controller is updated online to accommodate the time-varying operating conditions. Moreover, the convergence and stability are guaranteed by mathematical analysis. Finally, the effectiveness of the proposed method is demonstrated both on simulations and experiments implemented on a practical PMSM servo system. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

  9. Theoretical Design and First Test in Laboratory of a Composite Visual Servo-Based Target Spray Robotic System

    Directory of Open Access Journals (Sweden)

    Dongjie Zhao

    2016-01-01

    Full Text Available In order to spray onto the canopy of interval planting crop, an approach of using a target spray robot with a composite vision servo system based on monocular scene vision and monocular eye-in-hand vision was proposed. Scene camera was used to roughly locate target crop, and then the image-processing methods for background segmentation, crop canopy centroid extraction, and 3D positioning were studied. Eye-in-hand camera was used to precisely determine spray position of each crop. Based on the center and area of 2D minimum-enclosing-circle (MEC of crop canopy, a method to calculate spray position and spray time was determined. In addition, locating algorithm for the MEC center in nozzle reference frame and the hand-eye calibration matrix were studied. The processing of a mechanical arm guiding nozzle to spray was divided into three stages: reset, alignment, and hovering spray, and servo method of each stage was investigated. For preliminary verification of the theoretical studies on the approach, a simplified experimental prototype containing one spray mechanical arm was built and some performance tests were carried out under controlled environment in laboratory. The results showed that the prototype could achieve the effect of “spraying while moving and accurately spraying on target.”

  10. Fast reciprocating probe system on the EAST superconducting tokamak

    Energy Technology Data Exchange (ETDEWEB)

    Zhang, W.; Chang, J. F.; Wan, B. N.; Xu, G. S.; Li, B.; Xu, C. S.; Yan, N.; Wang, L.; Liu, S. C.; Jiang, M.; Liu, P. [Institute of Plasma Physics, Chinese Academy of Sciences, P.O. Box 1126, Hefei 230031 (China); Xiao, C. J. [Institute of Plasma Physics, Chinese Academy of Sciences, P.O. Box 1126, Hefei 230031 (China); Department of Physics and Engineering Physics, Plasma Physics Laboratory, University of Saskatchewan, Saskatoon SK S7N 5E2 (Canada)

    2010-11-15

    A new fast reciprocating probe system (FRPS) has been built and installed on the outer midplane of the EAST tokamak to investigate the profiles of the boundary plasma parameters such as electron density and temperature. The system consists of a two-stage motion drive mechanism: slow motion and fast motion. The fast motion is powered by a servo motor, which drives the probe horizontally up to 50 cm to scan the edge region of the EAST tokamak. The maximum velocity achieved is 2 m/s. High velocity and flexible control of the fast motion are the remarkable features of this FRPS. A specially designed connector installed at the front end of the probe shaft makes it easy to install or replace the probe head on FRPS. During the latest experimental campaign in the spring of 2010, a probe head with seven tips, including two tips for a Mach probe, has been used. An example is given for simultaneous profile measurements of the plasma temperature, plasma density, and the plasma flow velocity.

  11. The analysis and compensation of errors of precise simple harmonic motion control under high speed and large load conditions based on servo electric cylinder

    Science.gov (United States)

    Ma, Chen-xi; Ding, Guo-qing

    2017-10-01

    Simple harmonic waves and synthesized simple harmonic waves are widely used in the test of instruments. However, because of the errors caused by clearance of gear and time-delay error of FPGA, it is difficult to control servo electric cylinder in precise simple harmonic motion under high speed, high frequency and large load conditions. To solve the problem, a method of error compensation is proposed in this paper. In the method, a displacement sensor is fitted on the piston rod of the electric cylinder. By using the displacement sensor, the real-time displacement of the piston rod is obtained and fed back to the input of servo motor, then a closed loop control is realized. There is compensation of pulses in the next period of the synthetic waves. This paper uses FPGA as the processing core. The software mainly comprises a waveform generator, an Ethernet module, a memory module, a pulse generator, a pulse selector, a protection module, an error compensation module. A durability of shock absorbers is used as the testing platform. The durability mainly comprises a single electric cylinder, a servo motor for driving the electric cylinder, and the servo motor driver.

  12. A model reference and sensitivity model-based self-learning fuzzy logic controller as a solution for control of nonlinear servo systems

    NARCIS (Netherlands)

    Kovacic, Z.; Bogdan, S.; Balenovic, M.

    1999-01-01

    In this paper, the design, simulation and experimental verification of a self-learning fuzzy logic controller (SLFLC) suitable for the control of nonlinear servo systems are described. The SLFLC contains a learning algorithm that utilizes a second-order reference model and a sensitivity model

  13. Tool path strategy and cutting process monitoring in intelligent machining

    Science.gov (United States)

    Chen, Ming; Wang, Chengdong; An, Qinglong; Ming, Weiwei

    2018-06-01

    Intelligent machining is a current focus in advanced manufacturing technology, and is characterized by high accuracy and efficiency. A central technology of intelligent machining—the cutting process online monitoring and optimization—is urgently needed for mass production. In this research, the cutting process online monitoring and optimization in jet engine impeller machining, cranio-maxillofacial surgery, and hydraulic servo valve deburring are introduced as examples of intelligent machining. Results show that intelligent tool path optimization and cutting process online monitoring are efficient techniques for improving the efficiency, quality, and reliability of machining.

  14. Altitude Compensating Nozzle Design Tool, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — Launch vehicle subsystem preliminary design tools that are fast, accurate, and seamlessly integrated into an electronic design and optimization environment have...

  15. stepping motor - hydraulic motor servo drives for an nc milling machine

    African Journals Online (AJOL)

    Dr Obe

    stepping motor Drive Assembly especially Designed for CNC systems". 13th Machine Tool Design and. Research. (MTDR) conference,. University of Birmingham, 1972. 2 Ertongur, N.A. "Investigation into the instability in an electro hydraulic control system for machine tools" Ph.D. Thesis, University of. Birmingham, UK. 1966 ...

  16. A Fast and On-Machine Measuring System Using the Laser Displacement Sensor for the Contour Parameters of the Drill Pipe Thread

    Directory of Open Access Journals (Sweden)

    Zhixu Dong

    2018-04-01

    Full Text Available The inconvenient loading and unloading of a long and heavy drill pipe gives rise to the difficulty in measuring the contour parameters of its threads at both ends. To solve this problem, in this paper we take the SCK230 drill pipe thread-repairing machine tool as a carrier to design and achieve a fast and on-machine measuring system based on a laser probe. This system drives a laser displacement sensor to acquire the contour data of a certain axial section of the thread by using the servo function of a CNC machine tool. To correct the sensor’s measurement errors caused by the measuring point inclination angle, an inclination error model is built to compensate data in real time. To better suppress random error interference and ensure real contour information, a new wavelet threshold function is proposed to process data through the wavelet threshold denoising. Discrete data after denoising is segmented according to the geometrical characteristics of the drill pipe thread, and the regression model of the contour data in each section is fitted by using the method of weighted total least squares (WTLS. Then, the thread parameters are calculated in real time to judge the processing quality. Inclination error experiments show that the proposed compensation model is accurate and effective, and it can improve the data acquisition accuracy of a sensor. Simulation results indicate that the improved threshold function is of better continuity and self-adaptability, which makes sure that denoising effects are guaranteed, and, meanwhile, the complete elimination of real data distorted in random errors is avoided. Additionally, NC50 thread-testing experiments show that the proposed on-machine measuring system can complete the measurement of a 25 mm thread in 7.8 s, with a measurement accuracy of ±8 μm and repeatability limit ≤ 4 μm (high repeatability, and hence the accuracy and efficiency of measurement are both improved.

  17. Faulting of rocks in three-dimensional strain fields I. Failure of rocks in polyaxial, servo-control experiments

    Science.gov (United States)

    Reches, Ze'ev; Dieterich, James H.

    1983-05-01

    The dependence of the number of sets of faults and their orientation on the intermediate strain axis is investigated through polyaxial tests, reported here, and theoretical analysis, reported in an accompanying paper. In the experiments, cubic samples of Berea sandstone, Sierra-White and Westerly granites, and Candoro and Solnhofen limestones were loaded on their three pairs of faces by three independent, mutually perpendicular presses at room temperature. Two of the presses were servo-controlled and applied constant displacement rates throughout the experiment. Most samples display three or four sets of faults in orthorhombic symmetry. These faults form in several yielding events that follow a stage of elastic deformation. In many experiments, the maximum and the intermediate compressive stresses interchange orientations during the yielding events, where the corresponding strains are constant. The final stage of most experiments is characterized by slip along the faults.

  18. Robust H(∞) positional control of 2-DOF robotic arm driven by electro-hydraulic servo system.

    Science.gov (United States)

    Guo, Qing; Yu, Tian; Jiang, Dan

    2015-11-01

    In this paper an H∞ positional feedback controller is developed to improve the robust performance under structural and parametric uncertainty disturbance in electro-hydraulic servo system (EHSS). The robust control model is described as the linear state-space equation by upper linear fractional transformation. According to the solution of H∞ sub-optimal control problem, the robust controller is designed and simplified to lower order linear model which is easily realized in EHSS. The simulation and experimental results can validate the robustness of this proposed method. The comparison result with PI control shows that the robust controller is suitable for this EHSS under the critical condition where the desired system bandwidth is higher and the external load of the hydraulic actuator is closed to its limited capability. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  19. Faulting of rocks in three-dimensional strain fields I. Failure of rocks in polyaxial, servo-control experiments

    Science.gov (United States)

    Reches, Z.; Dieterich, J.H.

    1983-01-01

    The dependence of the number of sets of faults and their orientation on the intermediate strain axis is investigated through polyaxial tests, reported here, and theoretical analysis, reported in an accompanying paper. In the experiments, cubic samples of Berea sandstone, Sierra-White and Westerly granites, and Candoro and Solnhofen limestones were loaded on their three pairs of faces by three independent, mutually perpendicular presses at room temperature. Two of the presses were servo-controlled and applied constant displacement rates throughout the experiment. Most samples display three or four sets of faults in orthorhombic symmetry. These faults form in several yielding events that follow a stage of elastic deformation. In many experiments, the maximum and the intermediate compressive stresses interchange orientations during the yielding events, where the corresponding strains are constant. The final stage of most experiments is characterized by slip along the faults. ?? 1983.

  20. Development of an interface for an ultrareliable fault-tolerant control system and an electronic servo-control unit

    Science.gov (United States)

    Shaver, Charles; Williamson, Michael

    1986-01-01

    The NASA Ames Research Center sponsors a research program for the investigation of Intelligent Flight Control Actuation systems. The use of artificial intelligence techniques in conjunction with algorithmic techniques for autonomous, decentralized fault management of flight-control actuation systems is explored under this program. The design, development, and operation of the interface for laboratory investigation of this program is documented. The interface, architecturally based on the Intel 8751 microcontroller, is an interrupt-driven system designed to receive a digital message from an ultrareliable fault-tolerant control system (UFTCS). The interface links the UFTCS to an electronic servo-control unit, which controls a set of hydraulic actuators. It was necessary to build a UFTCS emulator (also based on the Intel 8751) to provide signal sources for testing the equipment.

  1. Reduced-order model based active disturbance rejection control of hydraulic servo system with singular value perturbation theory.

    Science.gov (United States)

    Wang, Chengwen; Quan, Long; Zhang, Shijie; Meng, Hongjun; Lan, Yuan

    2017-03-01

    Hydraulic servomechanism is the typical mechanical/hydraulic double-dynamics coupling system with the high stiffness control and mismatched uncertainties input problems, which hinder direct applications of many advanced control approaches in the hydraulic servo fields. In this paper, by introducing the singular value perturbation theory, the original double-dynamics coupling model of the hydraulic servomechanism was reduced to a integral chain system. So that, the popular ADRC (active disturbance rejection control) technology could be directly applied to the reduced system. In addition, the high stiffness control and mismatched uncertainties input problems are avoided. The validity of the simplified model is analyzed and proven theoretically. The standard linear ADRC algorithm is then developed based on the obtained reduced-order model. Extensive comparative co-simulations and experiments are carried out to illustrate the effectiveness of the proposed method. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  2. Upgrading ATLAS Fast Calorimeter Simulation

    CERN Document Server

    Heath, Matthew Peter; The ATLAS collaboration

    2017-01-01

    Producing the very large samples of simulated events required by many physics and performance studies with the ATLAS detector using the full GEANT4 detector simulation is highly CPU intensive. Fast simulation tools are a useful way of reducing CPU requirements when detailed detector simulations are not needed. During the LHC Run-1, a fast calorimeter simulation (FastCaloSim) was successfully used in ATLAS. FastCaloSim provides a simulation of the particle energy response at the calorimeter read-out cell level, taking into account the detailed particle shower shapes and the correlations between the energy depositions in the various calorimeter layers. It is interfaced to the standard ATLAS digitization and reconstruction software, and it can be tuned to data more easily than Geant4. Now an improved version of FastCaloSim is in development, incorporating the experience with the version used during Run-1. The new FastCaloSim aims to overcome some limitations of the first version by improving the description of s...

  3. Fast Calorimeter Simulation in ATLAS

    CERN Document Server

    Schaarschmidt, Jana; The ATLAS collaboration

    2017-01-01

    Producing the very large samples of simulated events required by many physics and performance studies with the ATLAS detector using the full GEANT4 detector simulation is highly CPU intensive. Fast simulation tools are a useful way of reducing CPU requirements when detailed detector simulations are not needed. During the LHC Run-1, a fast calorimeter simulation (FastCaloSim) was successfully used in ATLAS. FastCaloSim provides a simulation of the particle energy response at the calorimeter read-out cell level, taking into account the detailed particle shower shapes and the correlations between the energy depositions in the various calorimeter layers. It is interfaced to the standard ATLAS digitization and reconstruction software, and it can be tuned to data more easily than GEANT4. It is 500 times faster than full simulation in the calorimeter system. Now an improved version of FastCaloSim is in development, incorporating the experience with the version used during Run-1. The new FastCaloSim makes use of mach...

  4. Modal space three-state feedback control for electro-hydraulic servo plane redundant driving mechanism with eccentric load decoupling.

    Science.gov (United States)

    Zhao, Jinsong; Wang, Zhipeng; Zhang, Chuanbi; Yang, Chifu; Bai, Wenjie; Zhao, Zining

    2018-06-01

    The shaking table based on electro-hydraulic servo parallel mechanism has the advantage of strong carrying capacity. However, the strong coupling caused by the eccentric load not only affects the degree of freedom space control precision, but also brings trouble to the system control. A novel decoupling control strategy is proposed, which is based on modal space to solve the coupling problem for parallel mechanism with eccentric load. The phenomenon of strong dynamic coupling among degree of freedom space is described by experiments, and its influence on control design is discussed. Considering the particularity of plane motion, the dynamic model is built by Lagrangian method to avoid complex calculations. The dynamic equations of the coupling physical space are transformed into the dynamic equations of the decoupling modal space by using the weighted orthogonality of the modal main mode with respect to mass matrix and stiffness matrix. In the modal space, the adjustments of the modal channels are independent of each other. Moreover, the paper discusses identical closed-loop dynamic characteristics of modal channels, which will realize decoupling for degree of freedom space, thus a modal space three-state feedback control is proposed to expand the frequency bandwidth of each modal channel for ensuring their near-identical responses in a larger frequency range. Experimental results show that the concept of modal space three-state feedback control proposed in this paper can effectively reduce the strong coupling problem of degree of freedom space channels, which verify the effectiveness of the proposed model space state feedback control strategy for improving the control performance of the electro-hydraulic servo plane redundant driving mechanism. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

  5. Role of pressure in angiotensin II-induced renal injury: chronic servo-control of renal perfusion pressure in rats.

    Science.gov (United States)

    Mori, Takefumi; Cowley, Allen W

    2004-04-01

    Renal perfusion pressure was servo-controlled chronically in rats to quantify the relative contribution of elevated arterial pressure versus angiotensin II (Ang II) on the induction of renal injury in Ang II-induced hypertension. Sprague-Dawley rats fed a 4% salt diet were administered Ang II for 14 days (25 ng/kg per minute IV; saline only for sham rats), and the renal perfusion pressure to the left kidney was continuously servo-controlled to maintain a normal pressure in that kidney throughout the period of hypertension. An aortic occluder was implanted around the aorta between the two renal arteries and carotid and femoral arterial pressure were measured continuously throughout the experiment to determine uncontrolled and controlled renal perfusion pressure, respectively. Renal perfusion pressure of uncontrolled, controlled, and sham kidneys over the period of Ang II or saline infusion averaged 152.6+/-7.0, 117.4+/-3.5, and 110.7+/-2.2 mm Hg, respectively. The high-pressure uncontrolled kidneys exhibited tubular necrosis and interstitial fibrosis, especially prominent in the outer medullary region. Regional glomerular sclerosis and interlobular artery injury were also pronounced. Controlled kidneys were significantly protected from interlobular artery injury, juxtamedullary glomeruli injury, tubular necrosis, and interstitial fibrosis as determined by comparing the level of injury. Glomerular injury was not prevented in the outer cortex. Transforming growth factor (TGF)-beta and active NF-kappaB proteins determined by immunohistochemistry were colocalized in the uncontrolled kidney in regions of interstitial fibrosis. We conclude that the preferential juxtamedullary injury found in Ang II hypertension is largely induced by pressure and is probably mediated through the TGF-beta and NF-kappaB pathway.

  6. Fast Convolution Module (Fast Convolution Module)

    National Research Council Canada - National Science Library

    Bierens, L

    1997-01-01

    This report describes the design and realisation of a real-time range azimuth compression module, the so-called 'Fast Convolution Module', based on the fast convolution algorithm developed at TNO-FEL...

  7. Fast polarizers installation for ECRH and ECE in TCV

    Energy Technology Data Exchange (ETDEWEB)

    Silva, Miguel, E-mail: miguel.silva@epfl.ch [Ecole Polytechnique Federale de Lausanne (EPFL), Centre de Recherches en Physique des Plasmas (CRPP), Association EURATOM-Confederation Suisse, CH-1015 Lausanne (Switzerland); Goodman, Timothy; Felici, Federico; Porte, Laurie [Ecole Polytechnique Federale de Lausanne (EPFL), Centre de Recherches en Physique des Plasmas (CRPP), Association EURATOM-Confederation Suisse, CH-1015 Lausanne (Switzerland)

    2011-10-15

    We report on the installation of fast polarizers for ECRH injection and ECE diagnostics, in the TCV tokamak. The main goal is to change the polarization during a plasma shot and react to changing conditions such as: plasma current and position, ECRH injection angles as well as ECE oblique observation angle and correlation ECE frequency. This will allow tracking of plasma variations, find optimum parameters to maximize ECRH absorption and improve the quality and consistency of ECE measurements. The polarization is varied using two fast polarizers, from General Atomics, positioned either in the evacuated transmission line for ECRH, or in a similar non-evacuated line near a real-time moveable directional antenna for ECE. A programmable driver is used to control a servo-motor and allows three operation modes during a plasma shot: fixed angle position, pre-programmed reference waveform and following of a real-time reference waveform. Preliminary tests of the motor controller achieved an 8 Hz bandwidth for a {+-}4{sup o} amplitude motion and a 2.2 Hz bandwidth for a {+-}4{sup o} amplitude motion. The fast polarizers are presently in the ECE system and the control hardware is being installed.

  8. Verification and Validation of Multisegmented Mooring Capabilities in FAST v8: Preprint

    Energy Technology Data Exchange (ETDEWEB)

    Andersen, Morten T.; Wendt, Fabian; Robertson, Amy; Jonkman, Jason; Hall, Matthew

    2016-08-01

    The quasi-static and dynamic mooring modules of the open-source aero-hydro-servo-elastic wind turbine simulation software, FAST v8, have previously been verified and validated, but only for mooring arrangements consisting of single lines connecting each fairlead and anchor. This paper extends the previous verification and validation efforts to focus on the multisegmented mooring capability of the FAST v8 modules: MAP++, MoorDyn, and the OrcaFlex interface. The OC3-Hywind spar buoy system tested by the DeepCwind consortium at the MARIN ocean basin, which includes a multisegmented bridle layout of the mooring system, was used for the verification and validation activities.

  9. Microcontroller-based servo for two-crystal X-ray monochromators.

    Science.gov (United States)

    Siddons, D P

    1998-05-01

    Microcontrollers have become increasingly easy to incorporate into instruments as the architectures and support tools have developed. The PIC series is particularly easy to use, and this paper describes a controller used to stabilize the output of a two-crystal X-ray monochromator at a given offset from its peak intensity position, as such monochromators are generally used.

  10. A six-degree-of-freedom magnetic levitation fine stage for a high-precision and high-acceleration dual-servo stage

    International Nuclear Information System (INIS)

    Kim, MyeongHyeon; Jeong, Jae-heon; Gweon, DaeGab; Kim, HyoYoung

    2015-01-01

    This paper presents a novel six-degree-of-freedom magnetic levitation fine stage for a dual-servo stage. The proposed fine stage is levitated and actuated, using a voice coil motor actuator with a Halbach magnet array. For a dual-servo stage, fine stage performance is deeply intertwined with coarse stage performance. Because the fine stage is installed over the coarse stage, the overall size of the fine stage can be limited by the moving plate of the coarse stage. Therefore, magnetic flux modeling and optimization are performed to manufacture optimal fine stages. To control the fine stage, actuator kinetics and sensor kinematics are proposed. Homing control is implemented by using linear variable differential transformers, whereas fine control is implemented by capacitance sensors and laser interferometers. Finally, experimental results of in-position stability, moving range, and repeatability are presented. (paper)

  11. Time-dependent rheoforging of A6061 aluminum alloy on a mechanical servo press and the effects of forming conditions on homogeneity of rheoforged samples

    Directory of Open Access Journals (Sweden)

    Meng Yi

    2015-01-01

    Full Text Available The solid and liquid phases in semisolid metal slurry exhibited different forming behaviours during deformation result in products with inhomogeneous quality. A6061 aluminum alloy was forged in the semisolid state on a mechanical servo press with the capability of multistage compression. To improve the homogeneity of rheoforged samples a time-dependent rheoforging strategy was designed. The distributions of the microstructure and mechanical properties the samples manufactured under various experimental conditions were investigated. The A6061 samples forged in the temperature range from 625 to 628 ∘C with a short holding time of 4 s and the upper die preheated to 300 ∘C exhibited a homogeneous microstructure and mechanical properties. The homogeneity of rheoforged samples resulted from the controllable free motion capability of the mechanical servo press and the adjustable fluidity and viscosity of the semisolid slurry.

  12. Fasting and rheumatic diseases

    OpenAIRE

    Mohammad Hassan Jokar

    2015-01-01

    Fasting is one of the important religious practices of Muslims, in which the individuals abstain from eating and drinking from dawn to sunset. Fasting is not obligatory or even not allowed, in case it causes health problems to the fasting individual. Rheumatic diseases are a major group of chronic diseases which can bring about numerous problems while fasting. The aim of this article is to review the impact of Islamic fasting on rheumatic patients, based on the scientific evidences.

  13. Development of the maintenance process by the servo manipulator for the parts of the equipment outside the MSM's workspace in a hot cell

    International Nuclear Information System (INIS)

    Lee, J. Y.; Kim, S. H.; Song, D. K.; Park, B. S.; Yun, G. S.

    2003-01-01

    In this study, the maintenance process by the servo manipulator for the parts of the equipment that cannot be reached by MSM in the hot cell was developed. To do this, the virtual mock up is implemented using virtual prototyping technology. And, Using this mock-up, the workspace of the manipulators in the hot cell and the operator's view through the wall-mounted lead glass are analyzed. And the path planning of the servo manipulator using the collision detection of the virtual mockup is established. Also, the maintenance process for the parts of the equipment that are located out area of the MSM's workspace by the servo manipulator is proposed and verified through the graphic simulation. The proposed remote maintenance process of the equipment can be effectively used in the real hot cell operation. Also, the implemented virtual mock-up of the hot cell can be effecively used in analyzing the various hot cell operation and in enhancing the reliability and safety of the spent fuel manaement

  14. Extended state observer–based fractional order proportional–integral–derivative controller for a novel electro-hydraulic servo system with iso-actuation balancing and positioning

    Directory of Open Access Journals (Sweden)

    Qiang Gao

    2015-12-01

    Full Text Available Aiming at balancing and positioning of a new electro-hydraulic servo system with iso-actuation configuration, an extended state observer–based fractional order proportional–integral–derivative controller is proposed in this study. To meet the lightweight requirements of heavy barrel weapons with large diameters, an electro-hydraulic servo system with a three-chamber hydraulic cylinder is especially designed. In the electro-hydraulic servo system, the balance chamber of the hydraulic cylinder is used to realize active balancing of the unbalanced forces, while the driving chambers consisting of the upper and lower chambers are adopted for barrel positioning and dynamic compensation of external disturbances. Compared with conventional proportional–integral–derivative controllers, the fractional order proportional–integral–derivative possesses another two adjustable parameters by expanding integer order to arbitrary order calculus, resulting in more flexibility and stronger robustness of the control system. To better compensate for strong external disturbances and system nonlinearities, the extended state observer strategy is further introduced to the fractional order proportional–integral–derivative control system. Numerical simulation and bench test indicate that the extended state observer–based fractional order proportional–integral–derivative significantly outperforms proportional–integral–derivative and fractional order proportional–integral–derivative control systems with better control accuracy and higher system robustness, well demonstrating the feasibility and effectiveness of the proposed extended state observer–based fractional order proportional–integral–derivative control strategy.

  15. Development of Servo Motor Trainer for Basic Control System in Laboratory of Electrical Engineering Control System Faculty of Engineering Universitas Negeri Surabaya

    Science.gov (United States)

    Endryansyah; Wanarti Rusimamto, Puput; Ridianto, Adam; Sugiarto, Hariyadi

    2018-04-01

    In the Department of Electrical Engineering FT Unesa, there are 3 majors: S1 Electrical Engineering Education, S1 Electrical Engineering, and D3 Electrical Engineering. Courses the Basic System Settings go to in the curriculum of the three programs. Team lecturer college of basic system settings seek learning innovation, focused on the development of trainer to student practicum at the laboratory of systems control. Trainer developed is a servo motor along with the lab module that contains a wide variety of theories about the servo motor and guide the practicum. This research type is development research using methods Research & development (R & D). In which the steps are applied in this study is as follows: pay attention to the potential and existing problems, gather information and study the literature, design the product, validate the design, revise the design, a limited trial. The results of the validation of learning device in the form of modules and trainer obtained as follows: score validation of learning device is 3,64; score validation lab module Servo Motor is 3,47; and questionnaire responses of students is 3,73. The result of the whole validation value is located in the interval >of 3.25 s/d 4 with the category of “Very Valid”, so it can be concluded that all instruments have a level of validity “Very Valid” and worthy of use for further learning.

  16. Dynamic Response of Control Servo System Installed in NAES-Equipped SB2C-5 Airplane (BuAer No. 83135)

    Science.gov (United States)

    Smaus, Louis H.; Stewart, Elwood C.

    1950-01-01

    Dynamic--response measurements for various conditions of displacement and rate signal input, sensitivity setting, and simulated hinge moment were made of the three control-surface servo systems of an NAES-equipped remote-controlled airplane while on the ground. The basic components of the servo systems are those of the General Electric Company type G-1 autopilot using electrical signal. sources, solenoid-operated valves, and hydraulic pistons. The test procedures and difficulties are discussed, Both frequency and transient-response data, are presented and comparisons are made. The constants describing the servo system, the undamped natural frequency, and the damping ratio, are determined by several methods. The response of the system with the addition of airframe rate signal is calculated. The transfer function of the elevator surface, linkage, and cable system is obtained. The agreement between various methods of measurement and calculation is considered very good. The data are complete enough and in such form that they may be used directly with the frequency-response data of an airplane to predict the stability of the autopilot-airplane combination.

  17. Development And Evaluation Of A Low Cost Servo-valve For Liquid Inputs Application [desenvolvimento E Avaliação De Uma Servoválvula De Baixo Custo Para A Aplicação De Insumos Líquidos

    OpenAIRE

    Johann A.L.; Russo E.; Cappelli N.L.; Umezu C.K.

    2006-01-01

    The present work aimed the development of a low cost servo-valve that answers to an electronic control signal, for variable rates liquid inputs application. A literature research to define which valve type should be used was made. A mechanically activated proportional valve with an electronically controlled servo-engine was designed and evaluated. Since developed the servo-valve, the system was submited to a number of tests .The evaluation of its behavior was obtained in terms of repeatabilit...

  18. Go Natural : a new fast food concept

    OpenAIRE

    Coelho, João Miguel Rodrigues

    2013-01-01

    Go Natural is a 100% Portuguese healthy fast food chain that was created by two siblings’ entrepreneurs, Diogo and Joana Martorell, whom had the wish to make something different. This company was chosen to serve as the setting of a Teaching Marketing study, with the purpose of being used as a pedagogical tool in undergraduate programs. This case provides students the opportunity to become familiar with brand expansions and the fast food market. In 2004, this pioneer brand provi...

  19. Real-time tracking control of electro-hydraulic force servo systems using offline feedback control and adaptive control.

    Science.gov (United States)

    Shen, Gang; Zhu, Zhencai; Zhao, Jinsong; Zhu, Weidong; Tang, Yu; Li, Xiang

    2017-03-01

    This paper focuses on an application of an electro-hydraulic force tracking controller combined with an offline designed feedback controller (ODFC) and an online adaptive compensator in order to improve force tracking performance of an electro-hydraulic force servo system (EHFS). A proportional-integral controller has been employed and a parameter-based force closed-loop transfer function of the EHFS is identified by a continuous system identification algorithm. By taking the identified system model as a nominal plant model, an H ∞ offline design method is employed to establish an optimized feedback controller with consideration of the performance, control efforts, and robustness of the EHFS. In order to overcome the disadvantage of the offline designed controller and cope with the varying dynamics of the EHFS, an online adaptive compensator with a normalized least-mean-square algorithm is cascaded to the force closed-loop system of the EHFS compensated by the ODFC. Some comparative experiments are carried out on a real-time EHFS using an xPC rapid prototype technology, and the proposed controller yields a better force tracking performance improvement. Copyright © 2016. Published by Elsevier Ltd.

  20. Application of a Self-recurrent Wavelet Neural Network in the Modeling and Control of an AC Servo System

    Directory of Open Access Journals (Sweden)

    Run Min HOU

    2014-05-01

    Full Text Available To control the nonlinearity, widespread variations in loads and time varying characteristic of the high power ac servo system, the modeling and control techniques are studied here. A self-recurrent wavelet neural network (SRWNN modeling scheme is proposed, which successfully addresses the issue of the traditional wavelet neural network easily falling into local optimum, and significantly improves the network approximation capability and convergence rate. The control scheme of a SRWNN based on fuzzy compensation is expected. Gradient information is provided in real time for the controller by using a SRWNN identifier, so as to ensure that the learning and adjusting function of the controller of the SRWNN operate well, and fuzzy compensation control is applied to improve rapidity and accuracy of the entire system. Then the Lyapunov function is utilized to judge the stability of the system. The experimental analysis and comparisons with other modeling and control methods, it is clearly shown that the validities of the proposed modeling scheme and control scheme are effective.

  1. Adaptive servo-ventilation therapy for patients with chronic heart failure in a confirmatory, multicenter, randomized, controlled study.

    Science.gov (United States)

    Momomura, Shin-Ichi; Seino, Yoshihiko; Kihara, Yasuki; Adachi, Hitoshi; Yasumura, Yoshio; Yokoyama, Hiroyuki; Wada, Hiroshi; Ise, Takayuki; Tanaka, Koichi

    2015-01-01

    Adaptive servo-ventilation (ASV) therapy is expected to be novel nonpharmacotherapy with hemodynamic effects on patients with chronic heart failure (CHF), but sufficient evidence has not been obtained. A 24-week, open-label, randomized, controlled study was performed to confirm the cardiac function-improving effect of ASV therapy on CHF patients. At 39 institutions, 213 outpatients with CHF, whose left ventricular ejection fraction (LVEF) was control group], respectively. The primary endpoint was LVEF, and the secondary endpoints were HF deterioration, B-type natriuretic peptide (BNP), and clinical composite response (CCR: NYHA class+HF deterioration). LVEF and BNP improved significantly at completion against the baseline values in the 2 groups. However, no significant difference was found between these groups. HF deterioration tended to be suppressed. The ASV group showed a significant improvement in CCR corroborated by significant improvements in NYHA class and ADL against the control group. Under the present study's conditions, ASV therapy was not superior to GDMT in the cardiac function-improving effect but showed a clinical status-improving effect, thus indicating a given level of clinical benefit.

  2. On-machine measurement of a slow slide servo diamond-machined 3D microstructure with a curved substrate

    International Nuclear Information System (INIS)

    Zhu, Wu-Le; Yang, Shunyao; Ju, Bing-Feng; Jiang, Jiacheng; Sun, Anyu

    2015-01-01

    A scanning tunneling microscope-based multi-axis measuring system is specially developed for the on-machine measurement of three-dimensional (3D) microstructures, to address the quality control difficulty with the traditional off-line measurement process. A typical 3D microstructure of the curved compound eye was diamond-machined by the slow slide servo technique, and then the whole surface was on-machine scanned three-dimensionally based on the tip-tracking strategy by utilizing a spindle, two linear motion stages, and an additional rotary stage. The machined surface profile and its shape deviation were accurately measured on-machine. The distortion of imaged ommatidia on the curved substrate was distinctively evaluated based on the characterized points extracted from the measured surface. Furthermore, the machining errors were investigated in connection with the on-machine measured surface and its characteristic parameters. Through experiments, the proposed measurement system is demonstrated to feature versatile on-machine measurement of 3D microstructures with a curved substrate, which is highly meaningful for quality control in the fabrication field. (paper)

  3. Flexible Assembly Solar Technology (FAST) Final Technical Report

    Energy Technology Data Exchange (ETDEWEB)

    Toister, Elad [BrightSource Energy Inc., Jerusalem (Israel)

    2014-11-06

    The Flexible Assembly Solar Technology (FAST) project was initiated by BrightSource in an attempt to provide potential solar field EPC contractors with an effective set of tools to perform specific construction tasks. These tasks are mostly associated with heliostat assembly and installation, and require customized non-standard tools. The FAST concept focuses on low equipment cost, reduced setup time and increased assembly throughput as compared to the Ivanpah solar field construction tools.

  4. HCUP Fast Stats

    Data.gov (United States)

    U.S. Department of Health & Human Services — HCUP Fast Stats provides easy access to the latest HCUP-based statistics for health information topics. HCUP Fast Stats uses visual statistical displays in...

  5. Fast food (image)

    Science.gov (United States)

    Fast foods are quick, reasonably priced, and readily available alternatives to home cooking. While convenient and economical for a busy lifestyle, fast foods are typically high in calories, fat, saturated fat, ...

  6. Fast food tips (image)

    Science.gov (United States)

    ... challenge to eat healthy when going to a fast food place. In general, avoiding items that are deep ... challenge to eat healthy when going to a fast food place. In general, avoiding items that are deep ...

  7. Rationale and design of the SERVE-HF study: treatment of sleep-disordered breathing with predominant central sleep apnoea with adaptive servo-ventilation in patients with chronic heart failure.

    Science.gov (United States)

    Cowie, Martin R; Woehrle, Holger; Wegscheider, Karl; Angermann, Christiane; d'Ortho, Marie-Pia; Erdmann, Erland; Levy, Patrick; Simonds, Anita; Somers, Virend K; Zannad, Faiez; Teschler, Helmut

    2013-08-01

    Central sleep apnoea/Cheyne-Stokes respiration (CSA/CSR) is a risk factor for increased mortality and morbidity in heart failure (HF). Adaptive servo-ventilation (ASV) is a non-invasive ventilation modality for the treatment of CSA/CSR in patients with HF. SERVE-HF is a multinational, multicentre, randomized, parallel trial designed to assess the effects of addition of ASV (PaceWave, AutoSet CS; ResMed) to optimal medical management compared with medical management alone (control group) in patients with symptomatic chronic HF, LVEF ≤45%, and predominant CSA. The trial is based on an event-driven group sequential design, and the final analysis will be performed when 651 events have been observed or the study is terminated at one of the two interim analyses. The aim is to randomize ∼1200 patients to be followed for a minimum of 2 years. Patients are to stay in the trial up to study termination. The first patient was randomized in February 2008 and the study is expected to end mid 2015. The primary combined endpoint is the time to first event of all-cause death, unplanned hospitalization (or unplanned prolongation of a planned hospitalization) for worsening (chronic) HF, cardiac transplantation, resuscitation of sudden cardiac arrest, or appropriate life-saving shock for ventricular fibrillation or fast ventricular tachycardia in implantable cardioverter defibrillator patients. The SERVE-HF study is a randomized study that will provide important data on the effect of treatment with ASV on morbidity and mortality, as well as the cost-effectiveness of this therapy, in patients with chronic HF and predominantly CSA/CSR. ISRCTN19572887.

  8. Physiology of Ramadan fasting

    OpenAIRE

    Shokoufeh Bonakdaran

    2016-01-01

    Considering the emphasis of Islam on the importance of fasting, Muslims attempt to fast from dawn until sunset during the holy month of Ramadan. Fasting is associated with several benefits for normal and healthy individuals. However, it could pose high risks to the health of diabetic patients due to certain physiological changes. This study aimed to compare the physiological changes associated with fasting in healthy individuals and diabetic patients during Ramadan. Furthermore, we reviewed t...

  9. The prototype fast reactor

    International Nuclear Information System (INIS)

    Broomfield, A.M.

    1985-01-01

    The paper concerns the Prototype Fast Reactor (PFR), which is a liquid metal cooled fast reactor power station, situated at Dounreay, Scotland. The principal design features of a Fast Reactor and the PFR are given, along with key points of operating history, and health and safety features. The role of the PFR in the development programme for commercial reactors is discussed. (U.K.)

  10. The fast reactor

    International Nuclear Information System (INIS)

    1980-02-01

    The subject is discussed as follows: brief description of fast reactors; advantage in conserving uranium resources; experience, in UK and elsewhere, in fast reactor design, construction and operation; safety; production of plutonium, security aspects; consideration of future UK fast reactor programme. (U.K.)

  11. Ramadan, fasting and pregnancy

    DEFF Research Database (Denmark)

    Ahmed, Urfan Zahoor; Lykke, Jacob Alexander

    2014-01-01

    In Islam, the month of Ramadan is a period of fasting lasting 29 or 30 days. Epidemiological studies among Muslims in Denmark have not been conducted, but studies show, that fasting among pregnant Muslim women is common. Fasting does not increase the risk of growth restriction or preterm delivery...

  12. Ramadan, fasting and pregnancy

    DEFF Research Database (Denmark)

    Ahmed, Urfan Zahoor; Lykke, Jacob Alexander

    2014-01-01

    In Islam, the month of Ramadan is a period of fasting lasting 29 or 30 days. Epidemiological studies among Muslims in Denmark have not been conducted, but studies show, that fasting among pregnant Muslim women is common. Fasting does not increase the risk of growth restriction or preterm delivery......, but there are reports of decreased foetal movements. Furthermore, the fasting may have long-term health consequences for the offspring, especially when they reach their middle age. According to Islam and the interpretation, pregnant and breast-feeding women are allowed to postpone the fasting of the month of Ramadan...

  13. Ramadan, faste og graviditet

    DEFF Research Database (Denmark)

    Ahmed, Urfan Zahoor; Lykke, Jacob Alexander

    2014-01-01

    In Islam, the month of Ramadan is a period of fasting lasting 29 or 30 days. Epidemiological studies among Muslims in Denmark have not been conducted, but studies show, that fasting among pregnant Muslim women is common. Fasting does not increase the risk of growth restriction or preterm delivery......, but there are reports of decreased foetal movements. Furthermore, the fasting may have long-term health consequences for the offspring, especially when they reach their middle age. According to Islam and the interpretation, pregnant and breast-feeding women are allowed to postpone the fasting of the month of Ramadan...

  14. Dynamics analysis of the fast-slow hydro-turbine governing system with different time-scale coupling

    Science.gov (United States)

    Zhang, Hao; Chen, Diyi; Wu, Changzhi; Wang, Xiangyu

    2018-01-01

    Multi-time scales modeling of hydro-turbine governing system is crucial in precise modeling of hydropower plant and provides support for the stability analysis of the system. Considering the inertia and response time of the hydraulic servo system, the hydro-turbine governing system is transformed into the fast-slow hydro-turbine governing system. The effects of the time-scale on the dynamical behavior of the system are analyzed and the fast-slow dynamical behaviors of the system are investigated with different time-scale. Furthermore, the theoretical analysis of the stable regions is presented. The influences of the time-scale on the stable region are analyzed by simulation. The simulation results prove the correctness of the theoretical analysis. More importantly, the methods and results of this paper provide a perspective to multi-time scales modeling of hydro-turbine governing system and contribute to the optimization analysis and control of the system.

  15. Fast global sequence alignment technique

    KAUST Repository

    Bonny, Mohamed Talal

    2011-11-01

    Bioinformatics database is growing exponentially in size. Processing these large amount of data may take hours of time even if super computers are used. One of the most important processing tool in Bioinformatics is sequence alignment. We introduce fast alignment algorithm, called \\'Alignment By Scanning\\' (ABS), to provide an approximate alignment of two DNA sequences. We compare our algorithm with the wellknown sequence alignment algorithms, the \\'GAP\\' (which is heuristic) and the \\'Needleman-Wunsch\\' (which is optimal). The proposed algorithm achieves up to 51% enhancement in alignment score when it is compared with the GAP Algorithm. The evaluations are conducted using different lengths of DNA sequences. © 2011 IEEE.

  16. FastBit: Interactively Searching Massive Data

    Energy Technology Data Exchange (ETDEWEB)

    Wu, Kesheng; Ahern, Sean; Bethel, E. Wes; Chen, Jacqueline; Childs, Hank; Cormier-Michel, Estelle; Geddes, Cameron; Gu, Junmin; Hagen, Hans; Hamann, Bernd; Koegler, Wendy; Lauret, Jerome; Meredith, Jeremy; Messmer, Peter; Otoo, Ekow; Perevoztchikov, Victor; Poskanzer, Arthur; Prabhat,; Rubel, Oliver; Shoshani, Arie; Sim, Alexander; Stockinger, Kurt; Weber, Gunther; Zhang, Wei-Ming

    2009-06-23

    As scientific instruments and computer simulations produce more and more data, the task of locating the essential information to gain insight becomes increasingly difficult. FastBit is an efficient software tool to address this challenge. In this article, we present a summary of the key underlying technologies, namely bitmap compression, encoding, and binning. Together these techniques enable FastBit to answer structured (SQL) queries orders of magnitude faster than popular database systems. To illustrate how FastBit is used in applications, we present three examples involving a high-energy physics experiment, a combustion simulation, and an accelerator simulation. In each case, FastBit significantly reduces the response time and enables interactive exploration on terabytes of data.

  17. Upgrading the Fast Calorimeter Simulation in ATLAS

    CERN Document Server

    Schaarschmidt, Jana; The ATLAS collaboration

    2017-01-01

    The tremendous need for simulated samples now and even more so in the future, encourage the development of fast simulation techniques. The Fast Calorimeter Simulation is a faster though less accurate alternative to the full calorimeter simulation with Geant4. It is based on parametrizing the longitudunal and lateral energy deposits of single particles in the ATLAS calorimeter. Principal component analysis and machine learning techniques are used to improve the performance and decrease the memory need compared to the current version of the ATLAS Fast Calorimeter Simulation. The parametrizations are expanded to cover very high energies and very forward detector regions, to increase the applicability of the tool. A prototype of this upgraded Fast Calorimeter Simulation has been developed and first validations with single particles show substantial improvements over the previous version.

  18. The fast breeder reactor

    International Nuclear Information System (INIS)

    Collier, J.

    1990-01-01

    The arguments for and against the fast breeder reactor are debated. The case for the fast reactor is that the world energy demand will increase due to increasing population over the next forty years and that the damage to the global environment from burning fossil fuels which contribute to the greenhouse effect. Nuclear fission is the only large scale energy source which can achieve a cut in the use of carbon based fuels although energy conservation and renewable sources will also be important. Fast reactors produce more energy from uranium than other types of (thermal) reactors such as AGRs and PWRs. Fast reactors would be important from about 2020 onwards especially as by then many thermal reactors will need to be replaced. Fast reactors are also safer than normal reactors. The arguments against fast reactors are largely economic. The cost, especially the capital cost is very high. The viability of the technology is also questioned. (UK)

  19. The fast breeder reactor

    International Nuclear Information System (INIS)

    Davis, D.A.; Baker, M.A.W.; Hall, R.S.

    1990-01-01

    Following submission of written evidence, the Energy Committee members asked questions of three witnesses from the Central Electricity Generating Board and Nuclear Electric (which will be the government owned company running nuclear power stations after privatisation). Both questions and answers are reported verbatim. The points raised include where the responsibility for the future fast reactor programme should lie, with government only or with private enterprise or both and the viability of fast breeder reactors in the future. The case for the fast reactor was stated as essentially strategic not economic. This raised the issue of nuclear cost which has both a construction and a decommissioning element. There was considerable discussion as to the cost of building a European Fast reactor and the cost of the electricity it would generate compared with PWR type reactors. The likely demand for fast reactors will not arrive for 20-30 years and the need to build a fast reactor now is questioned. (UK)

  20. Fast reactors worldwide

    International Nuclear Information System (INIS)

    Hall, R.S.; Vignon, D.

    1985-01-01

    The paper concerns the evolution of fast reactors over the past 30 years, and their present status. Fast reactor development in different countries is described, and the present position, with emphasis on cost reduction and collaboration, is examined. The French development of the fast breeder type reactor is reviewed, and includes: the acquisition of technical skills, the search for competitive costs and the spx2 project, and more advanced designs. Future prospects are also discussed. (U.K.)

  1. Fast breeder reactors

    International Nuclear Information System (INIS)

    Heinzel, V.

    1975-01-01

    The author gives a survey of 'fast breeder reactors'. In detail the process of breeding, the reasons for the development of fast breeders, the possible breeder reactors, the design criteria, fuels, cladding, coolant, and safety aspects are reported on. Design data of some experimental reactors already in operation are summarized in stabular form. 300 MWe Prototype-Reactors SNR-300 and PFR are explained in detail and data of KWU helium-cooled fast breeder reactors are given. (HR) [de

  2. A Novel Real-Time Path Servo Control of a Hardware-in-the-Loop for a Large-Stroke Asymmetric Rod-Less Pneumatic System under Variable Loads

    Directory of Open Access Journals (Sweden)

    Hao-Ting Lin

    2017-06-01

    Full Text Available This project aims to develop a novel large stroke asymmetric pneumatic servo system of a hardware-in-the-loop for path tracking control under variable loads based on the MATLAB Simulink real-time system. High pressure compressed air provided by the air compressor is utilized for the pneumatic proportional servo valve to drive the large stroke asymmetric rod-less pneumatic actuator. Due to the pressure differences between two chambers, the pneumatic actuator will operate. The highly nonlinear mathematical models of the large stroke asymmetric pneumatic system were analyzed and developed. The functional approximation technique based on the sliding mode controller (FASC is developed as a controller to solve the uncertain time-varying nonlinear system. The MATLAB Simulink real-time system was a main control unit of a hardware-in-the-loop system proposed to establish driver blocks for analog and digital I/O, a linear encoder, a CPU and a large stroke asymmetric pneumatic rod-less system. By the position sensor, the position signals of the cylinder will be measured immediately. The measured signals will be viewed as the feedback signals of the pneumatic servo system for the study of real-time positioning control and path tracking control. Finally, real-time control of a large stroke asymmetric pneumatic servo system with measuring system, a large stroke asymmetric pneumatic servo system, data acquisition system and the control strategy software will be implemented. Thus, upgrading the high position precision and the trajectory tracking performance of the large stroke asymmetric pneumatic servo system will be realized to promote the high position precision and path tracking capability. Experimental results show that fifth order paths in various strokes and the sine wave path are successfully implemented in the test rig. Also, results of variable loads under the different angle were implemented experimentally.

  3. A Novel Real-Time Path Servo Control of a Hardware-in-the-Loop for a Large-Stroke Asymmetric Rod-Less Pneumatic System under Variable Loads.

    Science.gov (United States)

    Lin, Hao-Ting

    2017-06-04

    This project aims to develop a novel large stroke asymmetric pneumatic servo system of a hardware-in-the-loop for path tracking control under variable loads based on the MATLAB Simulink real-time system. High pressure compressed air provided by the air compressor is utilized for the pneumatic proportional servo valve to drive the large stroke asymmetric rod-less pneumatic actuator. Due to the pressure differences between two chambers, the pneumatic actuator will operate. The highly nonlinear mathematical models of the large stroke asymmetric pneumatic system were analyzed and developed. The functional approximation technique based on the sliding mode controller (FASC) is developed as a controller to solve the uncertain time-varying nonlinear system. The MATLAB Simulink real-time system was a main control unit of a hardware-in-the-loop system proposed to establish driver blocks for analog and digital I/O, a linear encoder, a CPU and a large stroke asymmetric pneumatic rod-less system. By the position sensor, the position signals of the cylinder will be measured immediately. The measured signals will be viewed as the feedback signals of the pneumatic servo system for the study of real-time positioning control and path tracking control. Finally, real-time control of a large stroke asymmetric pneumatic servo system with measuring system, a large stroke asymmetric pneumatic servo system, data acquisition system and the control strategy software will be implemented. Thus, upgrading the high position precision and the trajectory tracking performance of the large stroke asymmetric pneumatic servo system will be realized to promote the high position precision and path tracking capability. Experimental results show that fifth order paths in various strokes and the sine wave path are successfully implemented in the test rig. Also, results of variable loads under the different angle were implemented experimentally.

  4. Fast wave current drive

    International Nuclear Information System (INIS)

    Goree, J.; Ono, M.; Colestock, P.; Horton, R.; McNeill, D.; Park, H.

    1985-07-01

    Fast wave current drive is demonstrated in the Princeton ACT-I toroidal device. The fast Alfven wave, in the range of high ion-cyclotron harmonics, produced 40 A of current from 1 kW of rf power coupled into the plasma by fast wave loop antenna. This wave excites a steady current by damping on the energetic tail of the electron distribution function in the same way as lower-hybrid current drive, except that fast wave current drive is appropriate for higher plasma densities

  5. A fast circuit analysis program based on microcomputer

    International Nuclear Information System (INIS)

    Hu Guoji

    1988-01-01

    A fast circuit analysis program (FCAP) is introduced. The program may be used to analyse DC operating point, frequency and transient response of fast circuit. The feature is that the model of active element is not specified. Users may choose one of many equivalent circuits. Written in FORTRAN 77, FCAP can be run on IBM PC and its compatible computers. It can be used as an assistant tool of analysis and design for fast circuits

  6. Microsurgical Clipping of an Anterior Communicating Artery Aneurysm Using a Novel Robotic Visualization Tool in Lieu of the Binocular Operating Microscope: Operative Video.

    Science.gov (United States)

    Klinger, Daniel R; Reinard, Kevin A; Ajayi, Olaide O; Delashaw, Johnny B

    2018-01-01

    The binocular operating microscope has been the visualization instrument of choice for microsurgical clipping of intracranial aneurysms for many decades. To discuss recent technological advances that have provided novel visualization tools, which may prove to be superior to the binocular operating microscope in many regards. We present an operative video and our operative experience with the BrightMatterTM Servo System (Synaptive Medical, Toronto, Ontario, Canada) during the microsurgical clipping of an anterior communicating artery aneurysm. To the best of our knowledge, the use of this device for the microsurgical clipping of an intracranial aneurysm has never been described in the literature. The BrightMatterTM Servo System (Synaptive Medical) is a surgical exoscope which avoids many of the ergonomic constraints of the binocular operating microscope, but is associated with a steep learning curve. The BrightMatterTM Servo System (Synaptive Medical) is a maneuverable surgical exoscope that is positioned with a directional aiming device and a surgeon-controlled foot pedal. While utilizing this device comes with a steep learning curve typical of any new technology, the BrightMatterTM Servo System (Synaptive Medical) has several advantages over the conventional surgical microscope, which include a relatively unobstructed surgical field, provision of high-definition images, and visualization of difficult angles/trajectories. This device can easily be utilized as a visualization tool for a variety of cranial and spinal procedures in lieu of the binocular operating microscope. We anticipate that this technology will soon become an integral part of the neurosurgeon's armamentarium. Copyright © 2017 by the Congress of Neurological Surgeons

  7. Variable friction device for structural control based on duo-servo vehicle brake: Modeling and experimental validation

    Science.gov (United States)

    Cao, Liang; Downey, Austin; Laflamme, Simon; Taylor, Douglas; Ricles, James

    2015-07-01

    Supplemental damping can be used as a cost-effective method to reduce structural vibrations. In particular, passive systems are now widely accepted and have numerous applications in the field. However, they are typically tuned to specific excitations and their performances are bandwidth-limited. A solution is to use semi-active devices, which have shown to be capable of substantially enhanced mitigation performance. The authors have recently proposed a new type of semi-active device, which consists of a variable friction mechanism based on a vehicle duo-servo drum brake, a mechanically robust and reliable technology. The theoretical performance of the proposed device has been previously demonstrated via numerical simulations. In this paper, we further the understanding of the device, termed Modified Friction Device (MFD) by fabricating a small scale prototype and characterizing its dynamic behavior. While the dynamics of friction is well understood for automotive braking technology, we investigate for the first time the dynamic behavior of this friction mechanism at low displacements and velocities, in both forward and backward directions, under various hydraulic pressures. A modified 3-stage dynamic model is introduced. A LuGre friction model is used to characterize the friction zone (Stage 1), and two pure stiffness regions to characterize the dynamics of the MFD once the rotation is reversed and the braking shoes are sticking to the drum (Stage 2) and the rapid build up of forces once the shoes are held by the anchor pin (Stage 3). The proposed model is identified experimentally by subjecting the prototype to harmonic excitations. It is found that the proposed model can be used to characterize the dynamics of the MFD, and that the largest fitting error arises at low velocity under low pressure input. The model is then verified by subjecting the MFD to two different earthquake excitations under different pressure inputs. The model is capable of tracking the

  8. Application to the field of medical and welfare with fluid power; Fluid power servo no iryo fukushi bun`ya eno oyo

    Energy Technology Data Exchange (ETDEWEB)

    Hayakawa, Y. [Nara Technical Coll., Nara (Japan)

    1999-05-15

    Reported herein are medical and welfare apparatuses activated by fluid power servos. Reference is also made to equipment now undergoing research and development. Numerous fluid power-driven welfare and caring apparatuses have been developed, some of which are named below. In an externally powered prosthetic leg, a rocking type hydraulic servo actuator is attached on the knee section. In this device, switching is performed between an active operation in which much torque is required for instance going up and down a stairway and a passive operation in which less torque is required for instance walking on a flat place, this for increased energy efficiency. In an externally powered orthosisis, an exoskeleton is installed on the lower extremities of a patient suffering from the paralysis of both legs, and enables physical exercises for rehabilitation. Such devices are controlled by one of the two methods, the master-slave method or the manual method. Devices for the transfer of patients include an in-home bathing assist system, powered assist suit for caring, powered assist chair, movable lift for transfer, pneumatic Rubbertuator-driven rehabilitation equipment, walk training device, and wavy motion pneumatic vibrator. (NEDO)

  9. Miniaturization of a Quasi-Servo Valve and Its Application to Positon Control of a Rubber Artificial Muscle with Built-in Sensor

    Directory of Open Access Journals (Sweden)

    Moriwake Yoshinori

    2016-01-01

    Full Text Available Nowadays, the care and welfare pneumatic devices to support a nursing care and a self-reliance of the elderly and the disabled are actively researched and developed by many researchers. These wearable devices require many actuators and control valves for multi degrees of freedom. The total weight and volume of the wearable devices increases according to the degree of freedom. Our final goal is to develop a compact wearable actuator with built-in sensor, controller and control valve and to apply it to a wearable assisted device. In our previous study, a small-sized quasi-servo valve which consists of two on/off control valves and an embedded controller was developed. In this study, the quasi-servo valve composing of much smaller-sized (40% in mass, 42% in volume on/off valves is proposed and tested. In addition, the rubber artificial muscle with an ultrasonic sensor as a built-in displacement sensor is proposed and a position control of the muscle is carried out using the tested tiny valve and built-in sensor. As a result, it was confirmed that the position control of the muscle can be realized using the tested ultrasonic sensor.

  10. Identification and real-time position control of a servo-hydraulic rotary actuator by means of a neurobiologically motivated algorithm.

    Science.gov (United States)

    Sadeghieh, Ali; Sazgar, Hadi; Goodarzi, Kamyar; Lucas, Caro

    2012-01-01

    This paper presents a new intelligent approach for adaptive control of a nonlinear dynamic system. A modified version of the brain emotional learning based intelligent controller (BELBIC), a bio-inspired algorithm based upon a computational model of emotional learning which occurs in the amygdala, is utilized for position controlling a real laboratorial rotary electro-hydraulic servo (EHS) system. EHS systems are known to be nonlinear and non-smooth due to many factors such as leakage, friction, hysteresis, null shift, saturation, dead zone, and especially fluid flow expression through the servo valve. The large value of these factors can easily influence the control performance in the presence of a poor design. In this paper, a mathematical model of the EHS system is derived, and then the parameters of the model are identified using the recursive least squares method. In the next step, a BELBIC is designed based on this dynamic model and utilized to control the real laboratorial EHS system. To prove the effectiveness of the modified BELBIC's online learning ability in reducing the overall tracking error, results have been compared to those obtained from an optimal PID controller, an auto-tuned fuzzy PI controller (ATFPIC), and a neural network predictive controller (NNPC) under similar circumstances. The results demonstrate not only excellent improvement in control action, but also less energy consumption. Copyright © 2011 ISA. Published by Elsevier Ltd. All rights reserved.

  11. Adaptive GSA-based optimal tuning of PI controlled servo systems with reduced process parametric sensitivity, robust stability and controller robustness.

    Science.gov (United States)

    Precup, Radu-Emil; David, Radu-Codrut; Petriu, Emil M; Radac, Mircea-Bogdan; Preitl, Stefan

    2014-11-01

    This paper suggests a new generation of optimal PI controllers for a class of servo systems characterized by saturation and dead zone static nonlinearities and second-order models with an integral component. The objective functions are expressed as the integral of time multiplied by absolute error plus the weighted sum of the integrals of output sensitivity functions of the state sensitivity models with respect to two process parametric variations. The PI controller tuning conditions applied to a simplified linear process model involve a single design parameter specific to the extended symmetrical optimum (ESO) method which offers the desired tradeoff to several control system performance indices. An original back-calculation and tracking anti-windup scheme is proposed in order to prevent the integrator wind-up and to compensate for the dead zone nonlinearity of the process. The minimization of the objective functions is carried out in the framework of optimization problems with inequality constraints which guarantee the robust stability with respect to the process parametric variations and the controller robustness. An adaptive gravitational search algorithm (GSA) solves the optimization problems focused on the optimal tuning of the design parameter specific to the ESO method and of the anti-windup tracking gain. A tuning method for PI controllers is proposed as an efficient approach to the design of resilient control systems. The tuning method and the PI controllers are experimentally validated by the adaptive GSA-based tuning of PI controllers for the angular position control of a laboratory servo system.

  12. Enhancing roll stability of heavy vehicle by LQR active anti-roll bar control using electronic servo-valve hydraulic actuators

    Science.gov (United States)

    Vu, Van Tan; Sename, Olivier; Dugard, Luc; Gaspar, Peter

    2017-09-01

    Rollover of heavy vehicle is an important road safety problem world-wide. Although rollovers are relatively rare events, they are usually deadly accidents when they occur. The roll stability loss is the main cause of rollover accidents in which heavy vehicles are involved. In order to improve the roll stability, most of modern heavy vehicles are equipped with passive anti-roll bars to reduce roll motion during cornering or riding on uneven roads. However these may be not sufficient to overcome critical situations. This paper introduces the active anti-roll bars made of four electronic servo-valve hydraulic actuators, which are modelled and integrated in a yaw-roll model of a single unit heavy vehicle. The control signal is the current entering the electronic servo-valve and the output is the force generated by the hydraulic actuator. The active control design is achieved solving a linear optimal control problem based on the linear quadratic regulator (LQR) approach. A comparison of several LQR controllers is provided to allow for tackling the considered multi-objective problems. Simulation results in frequency and time domains show that the use of two active anti-roll bars (front and rear axles) drastically improves the roll stability of the single unit heavy vehicle compared with the passive anti-roll bar.

  13. Fast multichannel analyser

    Energy Technology Data Exchange (ETDEWEB)

    Berry, A; Przybylski, M M; Sumner, I [Science Research Council, Daresbury (UK). Daresbury Lab.

    1982-10-01

    A fast multichannel analyser (MCA) capable of sampling at a rate of 10/sup 7/ s/sup -1/ has been developed. The instrument is based on an 8 bit parallel encoding analogue to digital converter (ADC) reading into a fast histogramming random access memory (RAM) system, giving 256 channels of 64 k count capacity. The prototype unit is in CAMAC format.

  14. A fast multichannel analyser

    International Nuclear Information System (INIS)

    Berry, A.; Przybylski, M.M.; Sumner, I.

    1982-01-01

    A fast multichannel analyser (MCA) capable of sampling at a rate of 10 7 s -1 has been developed. The instrument is based on an 8 bit parallel encoding analogue to digital converter (ADC) reading into a fast histogramming random access memory (RAM) system, giving 256 channels of 64 k count capacity. The prototype unit is in CAMAC format. (orig.)

  15. Islamic Fasting and Diabetes

    Directory of Open Access Journals (Sweden)

    Fereidoun Azizi

    2013-07-01

    Full Text Available The aim of this article is to review health-related aspects of Ramadan fasting in normal individuals and diabetics. During fasting days of Ramadan, glucose homeostasis is maintained by meal taken bepore dawn and by liver glycogen stores. Changes in serum lipids are variable and defend on the quality and quantity of food consumption and changes in weight. Compliant, well controlled type 2 diabetics may observe Ramadan fasting; but fasting is not recommended for type 1, non complaint, poorly controlled and pregnant diabetics. Although Ramadan fasting is safe for all healthy individuals and well controlled diabetics, those with uncontrolled diabetics and diabetics with complications should consult physicians and follow scientific recommendations.

  16. Fast Spectrum Reactors

    CERN Document Server

    Todd, Donald; Tsvetkov, Pavel

    2012-01-01

    Fast Spectrum Reactors presents a detailed overview of world-wide technology contributing to the development of fast spectrum reactors. With a unique focus on the capabilities of fast spectrum reactors to address nuclear waste transmutation issues, in addition to the well-known capabilities of breeding new fuel, this volume describes how fast spectrum reactors contribute to the wide application of nuclear power systems to serve the global nuclear renaissance while minimizing nuclear proliferation concerns. Readers will find an introduction to the sustainable development of nuclear energy and the role of fast reactors, in addition to an economic analysis of nuclear reactors. A section devoted to neutronics offers the current trends in nuclear design, such as performance parameters and the optimization of advanced power systems. The latest findings on fuel management, partitioning and transmutation include the physics, efficiency and strategies of transmutation, homogeneous and heterogeneous recycling, in addit...

  17. Fast ejendom III

    DEFF Research Database (Denmark)

    Munk-Hansen, Carsten

    Bogen er det tredje bind af tre planlagte bind om fast ejendom: I Overdragelsen, II Bolighandlen og III Ejerbeføjelsen. Fremstillingens giver et grundigt overblik over centrale områder af en omfattende regulering af fast ejendom, med angivelse af litteratur, hvor læseren kan søge yderligere...... oplysning. En ejer af fast ejendom er på særdeles mange områder begrænset i sin råden sammenlignet med ejeren af et formuegode i almindelighed. Fremstillingen tager udgangspunkt i ejerens perspektiv (fremfor samfundets eller myndighedernes). Både den privatretlige og offentligretlige regulering behandles......, eksempelvis ejendomsdannelsen, servitutter, naboretten, hævd, zoneinddelingen, den fysiske planlægning, beskyttelse af natur, beskyttelse af kultur, forurening fra fast ejendom, erstatning for forurening, jordforurening, ekspropriation, byggeri og adgang til fast ejendom....

  18. Fast fission phenomena

    International Nuclear Information System (INIS)

    Gregoire, Christian.

    1982-03-01

    Experimental studies of fast fission phenomena are presented. The paper is divided into three parts. In the first part, problems associated with fast fission processes are examined in terms of interaction potentials and a dynamic model is presented in which highly elastic collisions, the formation of compound nuclei and fast fission appear naturally. In the second part, a description is given of the experimental methods employed, the observations made and the preliminary interpretation of measurements suggesting the occurence of fast fission processes. In the third part, our dynamic model is incorporated in a general theory of the dissipative processes studied. This theory enables fluctuations associated with collective variables to be calculated. It is applied to highly inelastic collisions, to fast fission and to the fission dynamics of compound nuclei (for which a schematic representation is given). It is with these calculations that the main results of the second part can be interpreted [fr

  19. Simulation tools

    CERN Document Server

    Jenni, F

    2006-01-01

    In the last two decades, simulation tools made a significant contribution to the great progress in development of power electronics. Time to market was shortened and development costs were reduced drastically. Falling costs, as well as improved speed and precision, opened new fields of application. Today, continuous and switched circuits can be mixed. A comfortable number of powerful simulation tools is available. The users have to choose the best suitable for their application. Here a simple rule applies: The best available simulation tool is the tool the user is already used to (provided, it can solve the task). Abilities, speed, user friendliness and other features are continuously being improved—even though they are already powerful and comfortable. This paper aims at giving the reader an insight into the simulation of power electronics. Starting with a short description of the fundamentals of a simulation tool as well as properties of tools, several tools are presented. Starting with simplified models ...

  20. Simple Functions Spreadsheet tool presentation

    International Nuclear Information System (INIS)

    Grive, Mireia; Domenech, Cristina; Montoya, Vanessa; Garcia, David; Duro, Lara

    2010-09-01

    This document is a guide for users of the Simple Functions Spreadsheet tool. The Simple Functions Spreadsheet tool has been developed by Amphos 21 to determine the solubility limits of some radionuclides and it has been especially designed for Performance Assessment exercises. The development of this tool has been promoted by the necessity expressed by SKB of having a confident and easy-to-handle tool to calculate solubility limits in an agile and relatively fast manner. Its development started in 2005 and since then, it has been improved until the current version. This document describes the accurate and preliminary study following expert criteria that has been used to select the simplified aqueous speciation and solid phase system included in the tool. This report also gives the basic instructions to use this tool and to interpret its results. Finally, this document also reports the different validation tests and sensitivity analyses that have been done during the verification process