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Sample records for teleoperated control system

  1. Hydraulically powered dissimilar teleoperated system controller design

    International Nuclear Information System (INIS)

    Jansen, J.F.; Kress, R.L.

    1996-01-01

    This paper will address two issues associated with the implementation of a hydraulically powered dissimilar master-slave teleoperated system. These issues are the overall system control architecture and the design of robust hydraulic servo controllers for the position control problem. Finally, a discussion of overall system performance on an actual teleoperated system will be presented

  2. Intelligent networked teleoperation control

    CERN Document Server

    Li, Zhijun; Su, Chun-Yi

    2015-01-01

    This book describes a unified framework for networked teleoperation systems involving multiple research fields: networked control systems for linear and nonlinear forms, bilateral teleoperation, trilateral teleoperation, multilateral teleoperation and cooperative teleoperation. It closely examines networked control as a field at the intersection of systems & control and robotics and presents a number of experimental case studies on testbeds for robotic systems, including networked haptic devices, robotic network systems and sensor network systems. The concepts and results outlined are easy to understand, even for readers fairly new to the subject. As such, the book offers a valuable reference work for researchers and engineers in the fields of systems & control and robotics.

  3. Control issues for a hydraulically powered dissimilar teleoperated system

    International Nuclear Information System (INIS)

    Jansen, J.F.; Kress, R.L.

    1995-01-01

    This paper will address two issues associated with the implementation of a hydraulically powered dissimilar master-slave teleoperated system. These issues are the overall system control architecture and the design of robust hydraulic servo controllers for the position control problem. Finally, a discussion of overall system performance on an actual teleoperated system will be presented. (Schilling's Titan II hydraulic manipulators are the slave manipulators and the master manipulators are from the Oak Ridge National Laboratory-developed Advanced Servo Manipulator.)

  4. Teleoperation and computer control of a backhoe/manipulator system

    International Nuclear Information System (INIS)

    Amazeen, C.A.; Bishop, S.S.

    1987-01-01

    Teleoperation of the U.S. Army's Small Emplacement Excavator (SEE) is now in the prototype stage of development. Initial work is directed towards remotely controlling the SEE backhoe attachment as well as a Belvoir Research, Development, and Engineering Center (BRDEC)-developed heavy-lift manipulator (HLM). The HLM is an alternate end effector for the backhoe. Primitive computer control of the backhoe, with a bucket as an end effector, has been achieved. This paper presents the current and planned system configurations and discusses system applications

  5. Operation Modes and Control Schemes for Internet-Based Teleoperation System with Time Delay

    Institute of Scientific and Technical Information of China (English)

    曾庆军; 宋爱国

    2003-01-01

    Teleoperation system plays an important role in executing task under hazard environment. As the computer networks such as the Internet are being used as the communication channel of teleoperation system, varying time delay causes the overall system unstable and reduces the performance of transparency. This paper proposed twelve operation modes with different control schemes for teleoperation on the Internet with time delay. And an optimal operation mode with control scheme was specified for teleoperation with time delay, based on the tradeoff between passivity and transparency properties. It experimentally confirmed the validity of the proposed optimal mode and control scheme by using a simple one DOF master-slave manipulator system.

  6. An assigned responsibility system for robotic teleoperation control.

    Science.gov (United States)

    Small, Nicolas; Lee, Kevin; Mann, Graham

    2018-01-01

    This paper proposes an architecture that explores a gap in the spectrum of existing strategies for robot control mode switching in adjustable autonomy. In situations where the environment is reasonably known and/or predictable, pre-planning these control changes could relieve robot operators of the additional task of deciding when and how to switch. Such a strategy provides a clear division of labour between the automation and the human operator(s) before the job even begins, allowing for individual responsibilities to be known ahead of time, limiting confusion and allowing rest breaks to be planned. Assigned Responsibility is a new form of adjustable autonomy-based teleoperation that allows the selective inclusion of automated control elements at key stages of a robot operation plan's execution. Progression through these stages is controlled by automatic goal accomplishment tracking. An implementation is evaluated through engineering tests and a usability study, demonstrating the viability of this approach and offering insight into its potential applications.

  7. Stability Control of Force-Reflected Nonlinear Multilateral Teleoperation System under Time-Varying Delays

    Directory of Open Access Journals (Sweden)

    Da Sun

    2016-01-01

    Full Text Available A novel control algorithm based on the modified wave-variable controllers is proposed to achieve accurate position synchronization and reasonable force tracking of the nonlinear single-master-multiple-slave teleoperation system and simultaneously guarantee overall system’s stability in the presence of large time-varying delays. The system stability in different scenarios of human and environment situations has been analyzed. The proposed method is validated through experimental work based on the 3-DOF trilateral teleoperation system consisting of three different manipulators. The experimental results clearly demonstrate the feasibility of the proposed algorithm to achieve high transparency and robust stability in nonlinear single-master-multiple-slave teleoperation system in the presence of time-varying delays.

  8. Improving the performance of DTP2 bilateral teleoperation control system with haptic augmentation

    International Nuclear Information System (INIS)

    Viinikainen, Mikko; Tuominen, Janne; Alho, Pekka; Mattila, Jouni

    2014-01-01

    Highlights: •An experimental haptic shared control system, called CAT developed at the DTP2. •We investigate how the system integrates with the ITER compliant DTP2 RHCS. •The effect of CAT experimentally assessed in an ITER relevant maintenance scenario. -- Abstract: The remote maintenance of the ITER divertor is largely dependent on the usage of haptically teleoperated manipulators and man-in-the-loop operations. These maintenance operations are very demanding for the manipulator operators, yet vital for the success of the whole ITER experiment. Haptic shared control of the maintenance manipulators offers a promising solution for assisting the teleoperators in the maintenance tasks. A shared control system assists the operator by generating artificial guiding force effects and overlaying them on top of the haptic feedback from the teleoperation environment. An experimental haptic shared control system, called the Computer Assisted Teleoperation (CAT) has been developed at the Divertor Test Platform 2 (DTP2). In this paper, we investigate the design of the system and how the system integrates with the ITER compliant DTP2 prototype Remote Handling Control System (RHCS). We also experimentally assess the effect of the guidance to the operator performance in an ITER-relevant maintenance scenario using the Water Hydraulic MANipulator (WHMAN), which is specially designed for the divertor maintenance. The result of the experiment gives suggestive indication that the CAT system improves the performance of the operators of the system

  9. Development of teleoperated cleanup system

    International Nuclear Information System (INIS)

    Kim, Ki Ho; Park, J. J.; Yang, M. S.; Kwon, H. J.

    2005-01-01

    This report describes the development of a teleoperated cleanup system for use in a highly radioactive environment of DFDF(DUPIC Fuel Demonstration Facility) at KAERI where direct human access to the in-cell is strictly limited. The teleoperated cleanup system was designed to remotely remove contaminants placed or fixed on the floor surface of the hot-cell by mopping them with wet cloth. This cleanup system consists of a mopping slave, a mopping master and a control console. The mopping slave located at the in-cell comprises a mopping tool with a mopping cloth and a mobile platform, which were constructed in modules to facilitate maintenance. The mopping master that is an input device to control the mopping slave has kinematic dissimilarity with the mopping slave. The control console provides a means of bilateral control flows and communications between the mopping master and the mopping slave. In operation, the human operator from the out-of-cell performs a series of decontamination tasks remotely by manipulating the mopping slave located in-cell via a mopping master, having a sense of real mopping. The environmental and mechanical design considerations, and control systems of the developed teleoperated cleanup system are also described

  10. Stabilization of Teleoperation Systems with Communication Delays: An IMC Approach

    Directory of Open Access Journals (Sweden)

    Yuling Li

    2018-01-01

    Full Text Available The presence of time delays in communication introduces a limitation to the stability of bilateral teleoperation systems. This paper considers internal model control (IMC design of linear teleoperation system with time delays, and the stability of the closed-loop system is analyzed. It is shown that the stability is guaranteed delay-independently. The passivity assumption for external forces is removed for the proposed design of teleoperation systems. The behavior of the resulting teleoperation system is illustrated by simulations.

  11. Compact teleoperated laparoendoscopic single-site robotic surgical system: Kinematics, control, and operation.

    Science.gov (United States)

    Isaac-Lowry, Oran Jacob; Okamoto, Steele; Pedram, Sahba Aghajani; Woo, Russell; Berkelman, Peter

    2017-12-01

    To date a variety of teleoperated surgical robotic systems have been developed to improve a surgeon's ability to perform demanding single-port procedures. However typical large systems are bulky, expensive, and afford limited angular motion, while smaller designs suffer complications arising from limited motion range, speed, and force generation. This work was to develop and validate a simple, compact, low cost single site teleoperated laparoendoscopic surgical robotic system, with demonstrated capability to carry out basic surgical procedures. This system builds upon previous work done at the University of Hawaii at Manoa and includes instrument and endoscope manipulators as well as compact articulated instruments designed to overcome single incision geometry complications. A robotic endoscope holder was used for the base, with an added support frame for teleoperated manipulators and instruments fabricated mostly from 3D printed parts. Kinematics and control methods were formulated for the novel manipulator configuration. Trajectory following results from an optical motion tracker and sample task performance results are presented. Results indicate that the system has successfully met the goal of basic surgical functionality while minimizing physical size, complexity, and cost. Copyright © 2017 John Wiley & Sons, Ltd.

  12. Haptic teleoperation systems signal processing perspective

    CERN Document Server

    Lee, Jae-young

    2015-01-01

    This book examines the signal processing perspective in haptic teleoperation systems. This text covers the topics of prediction, estimation, architecture, data compression, and error correction that can be applied to haptic teleoperation systems. The authors begin with an overview of haptic teleoperation systems, then look at a Bayesian approach to haptic teleoperation systems. They move onto a discussion of haptic data compression, haptic data digitization and forward error correction.   ·         Presents haptic data prediction/estimation methods that compensate for unreliable networks   ·         Discusses haptic data compression that reduces haptic data size over limited network bandwidth and haptic data error correction that compensate for packet loss problem   ·         Provides signal processing techniques used with existing control architectures.

  13. Complete Low-Cost Implementation of a Teleoperated Control System for a Humanoid Robot

    Directory of Open Access Journals (Sweden)

    Rafael Barea

    2013-01-01

    Full Text Available Humanoid robotics is a field of a great research interest nowadays. This work implements a low-cost teleoperated system to control a humanoid robot, as a first step for further development and study of human motion and walking. A human suit is built, consisting of 8 sensors, 6 resistive linear potentiometers on the lower extremities and 2 digital accelerometers for the arms. The goal is to replicate the suit movements in a small humanoid robot. The data from the sensors is wirelessly transmitted via two ZigBee RF configurable modules installed on each device: the robot and the suit. Replicating the suit movements requires a robot stability control module to prevent falling down while executing different actions involving knees flexion. This is carried out via a feedback control system with an accelerometer placed on the robot’s back. The measurement from this sensor is filtered using Kalman. In addition, a two input fuzzy algorithm controlling five servo motors regulates the robot balance. The humanoid robot is controlled by a medium capacity processor and a low computational cost is achieved for executing the different algorithms. Both hardware and software of the system are based on open platforms. The successful experiments carried out validate the implementation of the proposed teleoperated system.

  14. System for intelligent teleoperation research

    International Nuclear Information System (INIS)

    Orlando, N.E.

    1983-01-01

    The Automation Technology Branch of NASA Langley Research Center is developing a research capability in the field of artificial intelligence, particularly as applicable in teleoperator/robotics development for remote space operations. As a testbed for experimentation in these areas, a system concept has been developed and is being implemented. This system, termed DAISIE (Distributed Artificially Intelligent System for Interacting with the Environment), interfaces the key processes of perception, reasoning, and manipulation by linking hardware sensors and manipulators to a modular artificial intelligence (AI) software system in a hierarchical control structure. Verification experiments have been performed: one experiment used a blocksworld database and planner embedded in the DAISIE system to intelligently manipulate a simple physical environment; the other experiment implemented a joint-space collision avoidance algorithm. Continued system development is planned

  15. The Development of Radiation hardened tele-robot system - Development of artificial force reflection control for teleoperated mobile robots

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Ju Jang; Hong, Sun Gi; Kang, Young Hoon; Kim, Min Soeng [Korea Advanced Institute of Science and Technology, Taejon (Korea)

    1999-04-01

    One of the most important issues in teleoperation is to provide the sense of telepresence so as to conduct the task more reliably. In particular, teleoperated mobile robots are needed to have some kinds of backup system when the operator is blind for remote situation owing to the failure of vision system. In the first year, the idea of artificial force reflection was researched to enhance the reliability of operation when the mobile robot travels on the plain ground. In the second year, we extend previous results to help the teleoperator even when the robot climbs stairs. Finally, we apply the developed control algorithms to real experiments. The artificial force reflection method has two modes; traveling on the plain ground and climbing stairs. When traveling on the plain ground, the force information is artificially generated by using the range data from the environment while generating the impulse force when climbing stairs. To verify the validity of our algorithm, we develop the simulator which consists of the joystick and the visual display system. Through some experiments using this system, we confirm the validity and effectiveness of our new idea of artificial force reflection in the teleoperated mobile robot. 11 refs., 30 figs. (Author)

  16. Design and implementation of visual-haptic assistive control system for virtual rehabilitation exercise and teleoperation manipulation.

    Science.gov (United States)

    Veras, Eduardo J; De Laurentis, Kathryn J; Dubey, Rajiv

    2008-01-01

    This paper describes the design and implementation of a control system that integrates visual and haptic information to give assistive force feedback through a haptic controller (Omni Phantom) to the user. A sensor-based assistive function and velocity scaling program provides force feedback that helps the user complete trajectory following exercises for rehabilitation purposes. This system also incorporates a PUMA robot for teleoperation, which implements a camera and a laser range finder, controlled in real time by a PC, were implemented into the system to help the user to define the intended path to the selected target. The real-time force feedback from the remote robot to the haptic controller is made possible by using effective multithreading programming strategies in the control system design and by novel sensor integration. The sensor-based assistant function concept applied to teleoperation as well as shared control enhances the motion range and manipulation capabilities of the users executing rehabilitation exercises such as trajectory following along a sensor-based defined path. The system is modularly designed to allow for integration of different master devices and sensors. Furthermore, because this real-time system is versatile the haptic component can be used separately from the telerobotic component; in other words, one can use the haptic device for rehabilitation purposes for cases in which assistance is needed to perform tasks (e.g., stroke rehab) and also for teleoperation with force feedback and sensor assistance in either supervisory or automatic modes.

  17. Framework for teleoperated microassembly systems

    Science.gov (United States)

    Reinhart, Gunther; Anton, Oliver; Ehrenstrasser, Michael; Patron, Christian; Petzold, Bernd

    2002-02-01

    Manual assembly of minute parts is currently done using simple devices such as tweezers or magnifying glasses. The operator therefore requires a great deal of concentration for successful assembly. Teleoperated micro-assembly systems are a promising method for overcoming the scaling barrier. However, most of today's telepresence systems are based on proprietary and one-of-a-kind solutions. Frameworks which supply the basic functions of a telepresence system, e.g. to establish flexible communication links that depend on bandwidth requirements or to synchronize distributed components, are not currently available. Large amounts of time and money have to be invested in order to create task-specific teleoperated micro-assembly systems from scratch. For this reason, an object-oriented framework for telepresence systems that is based on CORBA as a common middleware was developed at the Institute for Machine Tools and Industrial Management (iwb). The framework is based on a distributed architectural concept and is realized in C++. External hardware components such as haptic, video or sensor devices are coupled to the system by means of defined software interfaces. In this case, the special requirements of teleoperation systems have to be considered, e.g. dynamic parameter settings for sensors during operation. Consequently, an architectural concept based on logical sensors has been developed to achieve maximum flexibility and to enable a task-oriented integration of hardware components.

  18. Haptic Manipulation of Deformable Objects in Hybrid Bilateral Teleoperation System

    Directory of Open Access Journals (Sweden)

    Juan Manuel Ibarra-Zannatha

    2007-01-01

    Full Text Available The aim of this work is the integration of a virtual environment containing a deformable object, manipulated by an open kinematical chain virtual slave robot, to a bilateral teleoperation scheme based on a real haptic device. The virtual environment of this hybrid bilateral teleoperation system combines collision detection algorithms, dynamical, kinematical and geometrical models with a position–position and/or force–position bilateral control algorithm, to produce on the operator side the reflected forces corresponding to the virtual mechanical interactions, through a haptic device. Contact teleoperation task over the virtual environment with a flexible object is implemented and analysed.

  19. A Novel Switching-Based Control Framework for Improved Task Performance in Teleoperation System With Asymmetric Time-Varying Delays.

    Science.gov (United States)

    Zhai, Di-Hua; Xia, Yuanqing

    2018-02-01

    This paper addresses the adaptive control for task-space teleoperation systems with constrained predefined synchronization error, where a novel switched control framework is investigated. Based on multiple Lyapunov-Krasovskii functionals method, the stability of the resulting closed-loop system is established in the sense of state-independent input-to-output stability. Compared with previous work, the developed method can simultaneously handle the unknown kinematics/dynamics, asymmetric varying time delays, and prescribed performance control in a unified framework. It is shown that the developed controller can guarantee the prescribed transient-state and steady-state synchronization performances between the master and slave robots, which is demonstrated by the simulation study.

  20. Fuzzy Logic Supervised Teleoperation Control for Mobile Robot

    Institute of Scientific and Technical Information of China (English)

    2008-01-01

    The supervised teleoperation control is presented for a mobile robot to implement the tasks by using fuzzy logic. The teleoperation control system includes joystick based user interaction mechanism, the high level instruction set and fuzzy logic behaviors integrated in a supervised autonomy teleoperation control system for indoor navigation. These behaviors include left wall following, right wall following, turn left, turn right, left obstacle avoidance, right obstacle avoidance and corridor following based on ultrasonic range finders data. The robot compares the instructive high level command from the operator and relays back a suggestive signal back to the operator in case of mismatch between environment and instructive command. This strategy relieves the operator's cognitive burden, handle unforeseen situations and uncertainties of environment autonomously. The effectiveness of the proposed method for navigation in an unstructured environment is verified by experiments conducted on a mobile robot equipped with only ultrasonic range finders for environment sensing.

  1. Control for delayed bilateral teleoperation of a quadrotor.

    Science.gov (United States)

    Slawiñski, E; Santiago, D; Mut, V

    2017-11-01

    This paper proposes a cascade control scheme for delayed bilateral teleoperation of a quadcopter. The strategy transforms a 6D real quadcopter to an easy-to-teleoperate 3D virtual quadcopter. The scheme is formed by a P+d plus PID controller for each dof. The analysis based on Lyapunov theory gets as result the way to set the control parameters depending on the magnitude of the asymmetric time delays (forward and backward delays). This technic aims to reach stability, simplicity and good performance in practice. Besides, experimental tests about delayed bilateral teleoperation of a quadcopter including the proposed control scheme are shown in order to evaluate the system performance. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  2. Semiautonomous teleoperation system with vision guidance

    Science.gov (United States)

    Yu, Wai; Pretlove, John R. G.

    1998-12-01

    This paper describes the ongoing research work on developing a telerobotic system in Mechatronic Systems and Robotics Research group at the University of Surrey. As human operators' manual control of remote robots always suffer from reduced performance and difficulties in perceiving information from the remote site, a system with a certain level of intelligence and autonomy will help to solve some of these problems. Thus, this system has been developed for this purpose. It also serves as an experimental platform to test the idea of using the combination of human and computer intelligence in teleoperation and finding out the optimum balance between them. The system consists of a Polhemus- based input device, a computer vision sub-system and a graphical user interface which communicates the operator with the remote robot. The system description is given in this paper as well as the preliminary experimental results of the system evaluation.

  3. Experiments in teleoperator and autonomous control of space robotic vehicles

    Science.gov (United States)

    Alexander, Harold L.

    1991-01-01

    A program of research embracing teleoperator and automatic navigational control of freely flying satellite robots is presented. Current research goals include: (1) developing visual operator interfaces for improved vehicle teleoperation; (2) determining the effects of different visual interface system designs on operator performance; and (3) achieving autonomous vision-based vehicle navigation and control. This research program combines virtual-environment teleoperation studies and neutral-buoyancy experiments using a space-robot simulator vehicle currently under development. Visual-interface design options under investigation include monoscopic versus stereoscopic displays and cameras, helmet-mounted versus panel-mounted display monitors, head-tracking versus fixed or manually steerable remote cameras, and the provision of vehicle-fixed visual cues, or markers, in the remote scene for improved sensing of vehicle position, orientation, and motion.

  4. Power and signal transmission for mobile teleoperated systems

    International Nuclear Information System (INIS)

    Morris, A.C. Jr.; Hamel, W.R.

    1986-01-01

    Appropriate means must be furnished for supplying power and for sending controlling commands to mobile teleoperated systems. This paper describes a number of umbilical, onboard, and wireless systems used in transmitting power that are available for mobile teleoperator services. The pros and cons of selecting appropriate methods from a list of possible communication systems (wired, fiber optic, and radio frequency) are also examined. Moreover, hybrid systems combining wireless power transmissions with command-information signals are also possible. 20 refs., 6 figs., 1 tab

  5. The development of radiation hardened tele-robot system - Development of path-planning and control technology for tele-operated redundant manipulator

    Energy Technology Data Exchange (ETDEWEB)

    Chang, Pyung Hun; Park, Ki Cheol; Park, Suk Ho [Korea Advanced Institute of Science and Technology, Taejon (Korea)

    1999-04-01

    This project focuses on the development of the control system for a teleoperated redundant manipulator, which performs many tasks dexterously, while avoiding obstacles, instead of human workers in the extreme situations like nuclear power plants. To this end, four consecutive research works have been performed. First, two new methods for global path-planning have been developed to inspect the global behavior of the redundant manipulator. Second, characteristics of optimal solutions(COS) under inequality constraints have been analyzed and, using the COS, how to greatly enhance the conventional redundancy resolution methods in terms of performance and repeatability has also been proposed. Third, an effective control method for a redundant manipulator has been developed, which incorporates all kinds of physical limits into practical inequality constraints and is computationally efficient for real-time purposes. Finally, using this control method as the controller of the slave redundant manipulator and developing a master manipulator, the inertial torque and gravitation torque of which are negligible, a force-reflected teleoperation control system has been developed. Through the teleoperation control system, human operator can accurately control the position and the force of the end-effector of the slave manipulator while feeling the interaction force between the slave and the workpiece. In addition, the slave redundant manipulator autonomously can control the impedance and can optimize a given performance measure while avoiding physical limits such as joint angle limits and obstacles. 49 refs., 43 figs., 10 tabs. (Author)

  6. Integration of advanced teleoperation technologies for control of space robots

    Science.gov (United States)

    Stagnaro, Michael J.

    1993-01-01

    Teleoperated robots require one or more humans to control actuators, mechanisms, and other robot equipment given feedback from onboard sensors. To accomplish this task, the human or humans require some form of control station. Desirable features of such a control station include operation by a single human, comfort, and natural human interfaces (visual, audio, motion, tactile, etc.). These interfaces should work to maximize performance of the human/robot system by streamlining the link between human brain and robot equipment. This paper describes development of a control station testbed with the characteristics described above. Initially, this testbed will be used to control two teleoperated robots. Features of the robots include anthropomorphic mechanisms, slaving to the testbed, and delivery of sensory feedback to the testbed. The testbed will make use of technologies such as helmet mounted displays, voice recognition, and exoskeleton masters. It will allow tor integration and testing of emerging telepresence technologies along with techniques for coping with control link time delays. Systems developed from this testbed could be applied to ground control of space based robots. During man-tended operations, the Space Station Freedom may benefit from ground control of IVA or EVA robots with science or maintenance tasks. Planetary exploration may also find advanced teleoperation systems to be very useful.

  7. Teleoperation system using Asynchronous transfer mode, ATM network

    International Nuclear Information System (INIS)

    Mohd Dani Baba; A Nasoruddin Mohamad

    1999-01-01

    This paper examines the application of Asynchronous Transfer Mode (ATM) in a distributed industrial environment such as in teleoperation, which performs real time control manipulation from a remote location. In our study, two models of teleoperation are proposed; the first model is a point to point connection and the second model is through an ATM network. The performance results are analysed as to determine whether the two models can support the teleoperation traffics via simulation using commercial software design tool. (Author)

  8. Power and signal transmission for mobile teleoperated systems

    International Nuclear Information System (INIS)

    Morris, A.C. Jr.; Hamel, W.R.

    1985-01-01

    Appropriate means must be furnished for supplying power and for sending controlling commands to mobile teleoperated systems. Because a sizable number of possibilities are available for such applications, methods used in designing both the power and communications systems built into mobile vehicles that serve in radiological emergencies must be carefully selected. This paper describes a number of umbilical, on-board, and wireless systems used in tranmitting power that are available for mobile teleoperator services. The pros and cons of selecting appropriate methods from a list of possible communication systems (wired, fiber optic, and radio frequency) are also examined. Moreover, hybrid systems combining wireless power transmissions with command-information signals are also possible

  9. DESIGN AND CONSTRUCTION OF A FORCE-REFLECTING TELEOPERATION SYSTEM

    Energy Technology Data Exchange (ETDEWEB)

    M.A. Ebadian, Ph.D.

    1999-01-01

    For certain applications, such as space servicing, undersea operations, and hazardous material handling tasks in nuclear reactors, the environments can be uncertain, complex, and hazardous. Lives may be in danger if humans were to work under these conditions. As a result, a man-machine system--a teleoperator system--has been developed to work in these types of environments. In a typical teleoperator system, the actual system operates at a remote site; the operator located away from this system usually receives visual information from a video image and/or graphical animation on the computer screen. Additional feedback, such as aural and force information, can significantly enhance performance of the system. Force reflection is a type of feedback in which forces experienced by the remote manipulator are fed back to the manual controller. Various control methods have been proposed for implementation on a teleoperator system. In order to examine different control schemes, a one Degree-Of-Freedom (DOF) Force-Reflecting Manual Controller (FRMC) is constructed and integrated into a PC. The system parameters are identified and constructed as a mathematical model. The Proportional-Integral-Derivative (PID) and fuzzy logic controllers are developed and tested experimentally. Numerical simulation results obtained from the mathematical model are compared with those of experimental data for both types of controllers. In addition, the concept of a telesensation system is introduced. A telesensation system is an advanced teleoperator system that attempts to provide the operator with sensory feedback. In this context, a telesensation system integrates the use of a Virtual Reality (VR) unit, FRMC, and Graphical User Interface (GUI). The VR unit is used to provide the operator with a 3-D visual effect. Various commercial VR units are reviewed and features compared for use in a telesensation system. As for the FRMC, the conceptual design of a 3-DOF FRMC is developed in an effort to

  10. DESIGN AND CONSTRUCTION OF A FORCE-REFLECTING TELEOPERATION SYSTEM

    International Nuclear Information System (INIS)

    Ebadian, M.A.

    1999-01-01

    For certain applications, such as space servicing, undersea operations, and hazardous material handling tasks in nuclear reactors, the environments can be uncertain, complex, and hazardous. Lives may be in danger if humans were to work under these conditions. As a result, a man-machine system--a teleoperator system--has been developed to work in these types of environments. In a typical teleoperator system, the actual system operates at a remote site; the operator located away from this system usually receives visual information from a video image and/or graphical animation on the computer screen. Additional feedback, such as aural and force information, can significantly enhance performance of the system. Force reflection is a type of feedback in which forces experienced by the remote manipulator are fed back to the manual controller. Various control methods have been proposed for implementation on a teleoperator system. In order to examine different control schemes, a one Degree-Of-Freedom (DOF) Force-Reflecting Manual Controller (FRMC) is constructed and integrated into a PC. The system parameters are identified and constructed as a mathematical model. The Proportional-Integral-Derivative (PID) and fuzzy logic controllers are developed and tested experimentally. Numerical simulation results obtained from the mathematical model are compared with those of experimental data for both types of controllers. In addition, the concept of a telesensation system is introduced. A telesensation system is an advanced teleoperator system that attempts to provide the operator with sensory feedback. In this context, a telesensation system integrates the use of a Virtual Reality (VR) unit, FRMC, and Graphical User Interface (GUI). The VR unit is used to provide the operator with a 3-D visual effect. Various commercial VR units are reviewed and features compared for use in a telesensation system. As for the FRMC, the conceptual design of a 3-DOF FRMC is developed in an effort to

  11. Internet Teleoperation of a Robot with Streaming Buffer System under Varying Time Delays

    Science.gov (United States)

    Park, Jahng-Hyon; Shin, Wanjae

    It is known that existence of irregular transmission time delay is a major bottleneck for application of advanced robot control schemes to internet telerobotic systems. In the internet teleoperation system, the irregular transmission time delay causes a critical problem, which includes instability and inaccuracy. This paper suggests a practical internet teleoperation system with streaming buffer system, which consists of a buffer, a buffer manager, and a control timer. The proposed system converts the irregular transmission time delay to a constant. So, the system effectively transmits the control input to a remote site to operate a robot stably and accurately. This feature enables short control input intervals. That means the entire system has a large control bandwidth. The validity of the proposed method is demonstrated by experiments of teleoperation from USC (University of Southern California in U. S.A.) to HYU (Hanyang Univ. in Korea) through the Internet. The proposed method is also demonstrated by experiments of teleoperation through the wireless internet.

  12. An Intuitive Robot Teleoperation System for Nuclear Power Plant Decommissioning

    International Nuclear Information System (INIS)

    Lee, Chang-hyuk; Gu, Taehyeong; Lee, Kyung-min; Ye, Sung-Joon; Bang, Young-bong

    2017-01-01

    A robot teleoperation system consists of a master device and a slave robot. The master device senses human intention and delivers it to the salve robot. A haptic device and an exoskeletal robot are widely used as the master device. The slave robot carries out operations delivered by the master device. It should guarantee enough degree of freedom (DOF) to perform the instructed operation and mobility in the environment inside the nuclear plant, such as flat surfaces and stairs. A 7-DOF robotic arm is commonly used as the slave device. This paper proposed a robot teleoperation system for nuclear power plant decommissioning. It discussed an experiment that was performed to validate the system's usability. The operator wearing the exoskeletal master device at the master site controlled the slave robot enabling it to move on a flat surface, climb/descend stairs, and move obstacles. The proposed robot teleoperation system can also be used in hazardous working environments where the use of such robots would be beneficial to human health and safety. In the future, research studies on the protection against radiation that damages the slave robot should be conducted.

  13. Research issues in implementing remote presence in teleoperator control

    Science.gov (United States)

    Corker, K.; Mishkin, A. H.; Lyman, J.

    1981-01-01

    The concept of remote presence in telemanipulation is presented. A conceptual design of a prototype teleoperator system incorporating remote presence is described. The design is presented in functional terms, sensor, display, and control subsystem. An intermediate environment, in which the human operator is made to feel present, is explicated. The intermediate environment differs from the task environment due to the quantity and type of information presented to an operator and due to scaling factors protecting the operator from the hazards of the task environment. Potential benefits of remote presence systems, both for manipulation and for the study of human cognition and preception are discussed.

  14. Switching robust control synthesis for teleoperation via dwell time conditions

    NARCIS (Netherlands)

    López Martínez, C.A.; van de Molengraft, M.J.G.; Steinbuch, M.; Auvray, M.; Duriez, C.

    2014-01-01

    Control design for bilateral teleoperation is still an open problem, given that it is desirable to meet a proper balance in the inherent trade-off between transparency and stability. We propose the use of switching robust control, in which smooth switching among controllers is achieved by the

  15. PD-like controller for delayed bilateral teleoperation of wheeled robots

    Science.gov (United States)

    Slawiñski, E.; Mut, V.; Santiago, D.

    2016-08-01

    This paper proposes a proportional derivative (PD)-like controller applied to the delayed bilateral teleoperation of wheeled robots with force feedback in face of asymmetric and varying-time delays. In contrast to bilateral teleoperation of manipulator robots, in these systems, there is a mismatch between the models of the master and slave (mobile robot), problem that is approached in this work, where the system stability is analysed. From this study, it is possible to infer the control parameters, depending on the time delay, necessary to assure stability. Finally, the performance of the delayed teleoperation system is evaluated through tests where a human operator drives a 3D simulator as well as a mobile robot for pushing objects.

  16. Design of teleoperated robot system for nozzle dam maintenance in steam generator

    International Nuclear Information System (INIS)

    Kim, Chang-Hoi; Hwang, Suk-Young; Lee, Young-Gwang; Kim, Byung-Soo; Kim, Seung-Ho; Lee, Jong-Min

    1994-01-01

    The recent development of teleoperated manipulator system in KAERI is presented. The manipulator system is composed of master-slave arm and control system with VME based hierarchical structure. Supervisory control part with graphic workstation provides affluent visual information to human operator. This robot can be operated either in the teleoperation mode with master-slave or in the program mode running by computer system itself to enable installation or removal of nozzle dam appropriately within a water chamber of steam generator. Evaluation and analysis have been carried out to get optimal parameters of the robot. (author)

  17. Shared control on lunar spacecraft teleoperation rendezvous operations with large time delay

    Science.gov (United States)

    Ya-kun, Zhang; Hai-yang, Li; Rui-xue, Huang; Jiang-hui, Liu

    2017-08-01

    Teleoperation could be used in space on-orbit serving missions, such as object deorbits, spacecraft approaches, and automatic rendezvous and docking back-up systems. Teleoperation rendezvous and docking in lunar orbit may encounter bottlenecks for the inherent time delay in the communication link and the limited measurement accuracy of sensors. Moreover, human intervention is unsuitable in view of the partial communication coverage problem. To solve these problems, a shared control strategy for teleoperation rendezvous and docking is detailed. The control authority in lunar orbital maneuvers that involves two spacecraft as rendezvous and docking in the final phase was discussed in this paper. The predictive display model based on the relative dynamic equations is established to overcome the influence of the large time delay in communication link. We discuss and attempt to prove via consistent, ground-based simulations the relative merits of fully autonomous control mode (i.e., onboard computer-based), fully manual control (i.e., human-driven at the ground station) and shared control mode. The simulation experiments were conducted on the nine-degrees-of-freedom teleoperation rendezvous and docking simulation platform. Simulation results indicated that the shared control methods can overcome the influence of time delay effects. In addition, the docking success probability of shared control method was enhanced compared with automatic and manual modes.

  18. A CORBA-Based Control Architecture for Real-Time Teleoperation Tasks in a Developmental Humanoid Robot

    Directory of Open Access Journals (Sweden)

    Hanafiah Yussof

    2011-06-01

    Full Text Available This paper presents the development of new Humanoid Robot Control Architecture (HRCA platform based on Common Object Request Broker Architecture (CORBA in a developmental biped humanoid robot for real-time teleoperation tasks. The objective is to make the control platform open for collaborative teleoperation research in humanoid robotics via the internet. Meanwhile, to generate optimal trajectory generation in bipedal walk, we proposed a real time generation of optimal gait by using Genetic Algorithms (GA to minimize the energy for humanoid robot gait. In addition, we proposed simplification of kinematical solutions to generate controlled trajectories of humanoid robot legs in teleoperation tasks. The proposed control systems and strategies was evaluated in teleoperation experiments between Australia and Japan using humanoid robot Bonten-Maru. Additionally, we have developed a user-friendly Virtual Reality (VR user interface that is composed of ultrasonic 3D mouse system and a Head Mounted Display (HMD for working coexistence of human and humanoid robot in teleoperation tasks. The teleoperation experiments show good performance of the proposed system and control, and also verified the good performance for working coexistence of human and humanoid robot.

  19. A CORBA-Based Control Architecture for Real-Time Teleoperation Tasks in a Developmental Humanoid Robot

    Directory of Open Access Journals (Sweden)

    Hanafiah Yussof

    2011-06-01

    Full Text Available This paper presents the development of new Humanoid Robot Control Architecture (HRCA platform based on Common Object Request Broker Architecture (CORBA in a developmental biped humanoid robot for real‐time teleoperation tasks. The objective is to make the control platform open for collaborative teleoperation research in humanoid robotics via the internet. Meanwhile, to generate optimal trajectory generation in bipedal walk, we proposed a real time generation of optimal gait by using Genetic Algorithms (GA to minimize the energy for humanoid robot gait. In addition, we proposed simplification of kinematical solutions to generate controlled trajectories of humanoid robot legs in teleoperation tasks. The proposed control systems and strategies was evaluated in teleoperation experiments between Australia and Japan using humanoid robot Bonten‐Maru. Additionally, we have developed a user‐ friendly Virtual Reality (VR user interface that is composed of ultrasonic 3D mouse system and a Head Mounted Display (HMD for working coexistence of human and humanoid robot in teleoperation tasks. The teleoperation experiments show good performance of the proposed system and control, and also verified the good performance for working coexistence of human and humanoid robot.

  20. Control issues related to bilateral teleoperation of long-reach, flexible manipulators

    International Nuclear Information System (INIS)

    Love, L.J.

    1997-01-01

    A challenging problem presently being addressed by the Department of Energy (DOE) is the extraction of large volumes of hazardous waste from underground waste storage facilities. The nature of the material requires the use of robotic and teleoperated systems. Furthermore, the constraints of the storage tanks require the use of long reach manipulators. These robots are characterized by their large workspace and reduced mass. Unfortunately, this reduction in mass increases structural compliance, making these robots susceptible to vibration. Until recently, no attempt has been made to provide the operator any type of force reflection due to the compliance of the slave robot. This paper addresses the control of bilateral teleoperation systems that use long-reach, flexible manipulators. Analysis and experiments show that the compliance of the slave robot directly affects the stability of the teleoperation system. This study suggests that this may be controlled by increasing the damping on the master robot. However, this increase in target damping increases the energy an operator must exert during the execution of a task. A new teleoperation strategy adapts the target impedance of the master robot to variations in the identified impedance of the remote environment coupled to the slave robot. Experiments show increased performance due to a decrease in the energy the operator must provide during task execution

  1. Assisted supervision of a computer aided tele-operation system

    Energy Technology Data Exchange (ETDEWEB)

    Le Bars, H; Gravez, P; Fournier, R

    1994-12-31

    This paper talks about Computer Aided Tele-operation (CAT) in dismantling and maintenance of nuclear plants. The current research orientations at CEA, basic concepts of the supervision assistance system and the realisation of a prototype are presented. (TEC). 3 refs., 4 figs.

  2. Assisted supervision of a computer aided tele-operation system

    International Nuclear Information System (INIS)

    Le Bars, H.; Gravez, P.; Fournier, R.

    1994-01-01

    This paper talks about Computer Aided Tele-operation (CAT) in dismantling and maintenance of nuclear plants. The current research orientations at CEA, basic concepts of the supervision assistance system and the realisation of a prototype are presented. (TEC). 3 refs., 4 figs

  3. Development of a control algorithm for teleoperation of DFDF(IMEF/M6 hot cell) maintenance equipment

    Energy Technology Data Exchange (ETDEWEB)

    Oh, Chae Youn; Kwon, Hyuk Jo; Kim, Hak Duck; Jun, Ji Myung; Oh, Hee Geun [Chonbuk National University, Chonju (Korea)

    2002-03-01

    Teleoperation has been used for separating operators from the working environment. Thus, it is usually used to perform a work in an inaccessible place such as space, deep sea, etc. Also, it is used to perform a work in an accessible but a very poor working environment such as explosive, poison gas, radioactive area, etc. It is one of the advanced technology-intensive research areas. It has potentially big economical and industrial value. There is a tendency to avoid working in a difficult, dirty or dangerous place, particularly, in a high radioactive area since there always exist a possibility to be in a very dangerous situation. Thus, developing and utilizing of a teleoperation system will minimize the possibility to be exposed in such a extreme situation directly. Recently, there has been many researches on reflecting force information occurring in teleoperation to the operator in addition to visual information. The reflected force information is used to control the teleoperation system bilaterally. It will contribute a lot to improve teleoperation's safety and working efficiency. This study developed a bilateral force reflecting control algorithm. It may be used as a key technology of a teleoperation system for maintaining, repairing and dismantling facilities exposed in a high radioactive. 42 refs., 71 figs., 12 tabs. (Author)

  4. A Generalized Visual Aid System for Teleoperation Applied to Satellite Servicing

    Directory of Open Access Journals (Sweden)

    Guoliang Zhang

    2014-02-01

    Full Text Available This paper presents the latest results of a newly developed visual aid system for direct teleoperation. This method is extended to visual control to make an efficient teleoperation system by combining direct teleoperation and automatic control. On the one hand, an operator can conduct direct teleoperation with 3D graphic prediction simulation established by the VR technique. In order to remove inconsistencies between the virtual and real environments, a practical model-matching method is investigated. On the other hand, to realize real-time visual servoing control, a particular object recognition and pose estimation algorithm based on polygonal approximation is investigated to ensure a low computational cost for image processing. To avoid undesired forces involved in contact operation, 3D visual servoing incorporating a compliant control based on impedance control is developed. Finally, in a representative laboratory environment, a typical satellite servicing experiment is carried out based on this combined system. Experimental results demonstrate the feasibility and the effectiveness of the proposed method.

  5. The Development of radiation hardened tele-robot system - Development of teleoperating technology using a universal master

    Energy Technology Data Exchange (ETDEWEB)

    Choi, Yong Je; Yang, Hyun Suk [Yonsei University, Seoul (Korea)

    1999-04-01

    A force-reflecting universal master for a teleoperating system has been designed and constructed, which can be used as an effective command input device for teleoperated robots. This report presents a full detail of the mechanism design and experiments related to the development of the force-reflecting masters. A real time virtual graphics display system which can be used as a powerful tool to predict any potential dangers and also to prevent an accident in advance has been developed and interfaced with the master. In order to transmit the force information of the slave to the operator effectively, the force-reflecting algorithm has been suggested and tested on the teleoperating system. The various master-slave systems have been tested in order to develop an efficient control algorithm for a teleoperating system with a force-reflecting master. A compliant device with the force/torque sensor capability has been also developed, which can be used as a passive position/force hybrid control device and as a sensor acquiring valid contact information of a slave with an environment. Experimental results showed that the developed teleoperating technology can be applied to a teleoperator system which interacts with the real environment. 21 refs., 103 figs., 2 tabs. (Author)

  6. Trust between man and machine in a teleoperation system

    International Nuclear Information System (INIS)

    Dassonville, I.; Jolly, D.; Desodt, A.M.

    1996-01-01

    The work we present deals with the trust of man in a teleoperation system. Trust is important because it is linked to stress which modifies human reliability. We are trying to quantify trust. In this paper, we'll present the theory of trust in relationships, and its extension for a man-machine system. Then, we explain the links between trust and human reliability. Then, we introduce our experimental process and the first results concerning selfconfidence

  7. A teleoperated system for remote site characterization

    International Nuclear Information System (INIS)

    Sandness, G.A.; Richardson, B.S.; Pence, J.

    1993-08-01

    The detection and characterization of buried objects and materials is an important first step in the restoration of burial sites containing chemical and radioactive waste materials at Department of Energy (DOE) and Department of Defense (DOD) facilities. To address the need to minimize the exposure of on-site personnel to the hazards associated with such sites, the DOE Office of Technology Development and the US Army Environmental Center have jointly supported the development of the Remote Characterization System (RCS). One of the main components of the RCS is a small remotely driven survey vehicle that can transport various combinations of geophysical and radiological sensors. Currently implemented sensors include ground-penetrating radar, magnetometers, an electromagnetic induction sensor, and a sodium iodide radiation detector. The survey vehicle was constructed predominantly of non-metallic materials to minimize its effect on the operation of its geophysical sensors. The system operator controls the vehicle from a remote, truck-mounted, base station. Video images are transmitted to the base station by an radio link to give the operator necessary visual information. Vehicle control commands, tracking information, and sensor data are transmitted between the survey vehicle and the base station by means of a radio ethernet link. Precise vehicle tracking coordinates are provided by a differential Global Positioning System (GPS). The sensors are environmentally protected, internally cooled, and interchangeable based on mission requirements. To date, the RCS has been successfully tested at the Oak Ridge National Laboratory and the Idaho National Engineering Laboratory

  8. An Adaptive Regulator for Space Teleoperation System in Task Space

    Directory of Open Access Journals (Sweden)

    Chao Ge

    2014-01-01

    Full Text Available The problem of the gravity information which can not be obtained in advance for bilateral teleoperation is studied. In outer space exploration, the gravity term changes with the position changing of the slave manipulator. So it is necessary to design an adaptive regulator controller to compensate for the unknown gravity signal. Moreover, to get a more accurate position tracking performance, the controller is designed in the task space instead of the joint space. Additionally, the time delay considered in this paper is not only time varying but also unsymmetrical. Finally, simulations are presented to show the effectiveness of the proposed approach.

  9. Development of a piezo-actuated micro-teleoperation system for cell manipulation.

    Science.gov (United States)

    Zareinejad, M; Rezaei, S M; Abdullah, A; Shiry Ghidary, S

    2009-03-01

    Intracytoplasmic sperm injection (ICSI) requires long training and has low success rates, primarily due to poor control over the injection force. Making force feedback available to the operator will improve the success rate of the injection task. A macro-micro-teleoperation system bridges the gap between the task performed at the micro-level and the macroscopic movements of the operator. The teleoperation slave manipulator should accurately position a needle to precisely penetrate a cell membrane. Piezoelectric actuators are widely used in micromanipulation applications; however, hysteresis non-linearity limits the accuracy of these actuators. This paper presents a novel approach for utilizing a piezoelectric nano-stage as slave manipulator of a teleoperation system. The Prandtl-Ishlinskii (PI) model is used to model actuator hysteresis in a feedforward scheme to cancel out this non-linearity. To deal with the influence of parametric uncertainties, unmodelled dynamics and PI identification error, a perturbation term is added to the slave model and applies a sliding mode-based impedance control with perturbation estimation. The stability of entire system is guaranteed by Llewellyn's absolute stability criterion. The performance of the proposed controller was investigated through experiments for cell membrane penetration. The experimental results verified the accurate position tracking in free motion and simultaneous position and force tracking in contact with a low stiffness environment.

  10. Telepresence and teleoperation

    International Nuclear Information System (INIS)

    Parsons, H.M.

    1990-01-01

    Some developers of mobile teleoperators for remote systems have been emphasizing telepresence as an important design consideration. This paper discusses what that term means and what it implies for human/machine interfaces from a human factors viewpoint. In general, telepresence means designing a control station's equipment so an operator has a sense of presence at the remote manipulator or vehicle being controlled

  11. Passive hybrid force-position control for tele-operation based on real-time simulation of a virtual mechanism

    International Nuclear Information System (INIS)

    Joly, L.; Andriot, C.

    1995-01-01

    Hybrid force-position control aims at controlling position and force in separate directions. It is particularly useful to perform certain robotic tasks. In tele-operation context, passivity is important because it ensures stability when the system interacts with any passive environment. In this paper, we propose an original approach to hybrid force-position control of a force reflecting tele-robot system. It is based on real-time simulation of a virtual mechanism corresponding to the task. the resulting control law is passive. Experiments on a 6 degrees of freedom tele-operation system consisting in following a bent pipe under several control modes validate the approach. (authors). 12 refs., 6 figs

  12. Time domain passivity controller for 4-channel time-delay bilateral teleoperation.

    Science.gov (United States)

    Rebelo, Joao; Schiele, Andre

    2015-01-01

    This paper presents an extension of the time-domain passivity control approach to a four-channel bilateral controller under the effects of time delays. Time-domain passivity control has been used successfully to stabilize teleoperation systems with position-force and position-position controllers; however, the performance with such control architectures is sub-optimal both with and without time delays. This work extends the network representation of the time-domain passivity controller to the four-channel architecture, which provides perfect transparency to the user without time delay. The proposed architecture is based on modelling the controllers as dependent voltage sources and using only series passivity controllers. The obtained results are shown on a one degree-of-freedom setup and illustrate the stabilization behaviour of the proposed controller when time delay is present in the communication channel.

  13. Performance benefits of telerobotics and teleoperation - enhancements for an arm-based tank waste retrieval system

    Energy Technology Data Exchange (ETDEWEB)

    Horschel, D.S. [Sandia National Labs., Albuquerque, NM (United States); Gibbons, P.W. [Westinghouse Hanford Co., Richland, WA (United States); Draper, J.V. [Oak Ridge National Lab., TN (United States)] [and others

    1995-06-01

    This report evaluates telerobotic and teleoperational arm-based retrieval systems that require advanced robotic controls. These systems will be deployed in waste retrieval activities in Hanford`s Single Shell Tanks (SSTs). The report assumes that arm-based, retrieval systems will combine a teleoperational arm and control system enhanced by a number of advanced and telerobotic controls. The report describes many possible enhancements, spanning the full range of the control spectrum with the potential for technical maturation. The enhancements considered present a variety of choices and factors including: the enhancements to be included in the actual control system, safety, detailed task analyses, human factors, cost-benefit ratios, and availability and maturity of technology. Because the actual system will be designed by an offsite vendor, the procurement specifications must have the flexibility to allow bidders to propose a broad range of ideas, yet build in enough restrictions to filter out infeasible and undesirable approaches. At the same time they must allow selection of a technically promising proposal. Based on a preliminary analysis of the waste retrieval task, and considering factors such as operator limitations and the current state of robotics technology, the authors recommend a set of enhancements that will (1) allow the system to complete its waste retrieval mission, and (2) enable future upgrades in response to changing mission needs and technological advances.

  14. Performance benefits of telerobotics and teleoperation - enhancements for an arm-based tank waste retrieval system

    International Nuclear Information System (INIS)

    Horschel, D.S.; Gibbons, P.W.; Draper, J.V.

    1995-06-01

    This report evaluates telerobotic and teleoperational arm-based retrieval systems that require advanced robotic controls. These systems will be deployed in waste retrieval activities in Hanford's Single Shell Tanks (SSTs). The report assumes that arm-based, retrieval systems will combine a teleoperational arm and control system enhanced by a number of advanced and telerobotic controls. The report describes many possible enhancements, spanning the full range of the control spectrum with the potential for technical maturation. The enhancements considered present a variety of choices and factors including: the enhancements to be included in the actual control system, safety, detailed task analyses, human factors, cost-benefit ratios, and availability and maturity of technology. Because the actual system will be designed by an offsite vendor, the procurement specifications must have the flexibility to allow bidders to propose a broad range of ideas, yet build in enough restrictions to filter out infeasible and undesirable approaches. At the same time they must allow selection of a technically promising proposal. Based on a preliminary analysis of the waste retrieval task, and considering factors such as operator limitations and the current state of robotics technology, the authors recommend a set of enhancements that will (1) allow the system to complete its waste retrieval mission, and (2) enable future upgrades in response to changing mission needs and technological advances

  15. Passive impedance-based second-order sliding mode control for non-linear teleoperators

    Directory of Open Access Journals (Sweden)

    Luis G García-Valdovinos

    2017-02-01

    Full Text Available Bilateral teleoperation systems have attracted significant attention in the last decade mainly because of technological advancements in both the communication channel and computers performance. In addition, non-linear multi-degree-of-freedom bilateral teleoperators along with state observers have become an open research area. In this article, a model-free exact differentiator is used to estimate the full state along with a chattering-free second-order sliding mode controller to guarantee a robust impedance tracking under both constant and an unknown time delay of non-linear multi-degree-of-freedom robots. The robustness of the proposed controller is improved by introducing a change of coordinates in terms of a new nominal reference similar to that used in adaptive control theory. Experimental results that validate the predicted behaviour are presented and discussed using a Phantom Premium 1.0 as the master robot and a Catalyst-5 virtual model as the slave robot. The dynamics of the Catalyst-5 system is solved online.

  16. Experimental setup for evaluating an adaptive user interface for teleoperation control

    Science.gov (United States)

    Wijayasinghe, Indika B.; Peetha, Srikanth; Abubakar, Shamsudeen; Saadatzi, Mohammad Nasser; Cremer, Sven; Popa, Dan O.

    2017-05-01

    A vital part of human interactions with a machine is the control interface, which single-handedly could define the user satisfaction and the efficiency of performing a task. This paper elaborates the implementation of an experimental setup to study an adaptive algorithm that can help the user better tele-operate the robot. The formulation of the adaptive interface and associate learning algorithms are general enough to apply when the mapping between the user controls and the robot actuators is complex and/or ambiguous. The method uses a genetic algorithm to find the optimal parameters that produce the input-output mapping for teleoperation control. In this paper, we describe the experimental setup and associated results that was used to validate the adaptive interface to a differential drive robot from two different input devices; a joystick, and a Myo gesture control armband. Results show that after the learning phase, the interface converges to an intuitive mapping that can help even inexperienced users drive the system to a goal location.

  17. Implementation and design of a teleoperation system based on a VMEBUS/68020 pipelined architecture

    Science.gov (United States)

    Lee, Thomas S.

    1989-01-01

    A pipelined control design and architecture for a force-feedback teleoperation system that is being implemented at the Jet Propulsion Laboratory and which will be integrated with the autonomous portion of the testbed to achieve share control is described. At the local site, the operator sees real-time force/torque displays and moves two 6-degree of freedom (dof) force-reflecting hand-controllers as his hands feel the contact force/torques generated at the remote site where the robots interact with the environment. He also uses a graphical user menu to monitor robot states and specify system options. The teleoperation software is written in the C language and runs on MC68020-based processor boards in the VME chassis, which utilizes a real-time operating system; the hardware is configured to realize a four-stage pipeline configuration. The environment is very flexible, such that the system can easily be configured as a stand-alone facility for performing independent research in human factors, force control, and time-delayed systems.

  18. Haptic Data Processing for Teleoperation Systems: Prediction, Compression and Error Correction

    OpenAIRE

    Lee, Jae-young

    2013-01-01

    This thesis explores haptic data processing methods for teleoperation systems, including prediction, compression, and error correction. In the proposed haptic data prediction method, unreliable network conditions, such as time-varying delay and packet loss, are detected by a transport layer protocol. Given the information from the transport layer, a Bayesian approach is introduced to predict position and force data in haptic teleoperation systems. Stability of the proposed method within stoch...

  19. How operator admittance affects the response of a teleoperation system to assistive forces – A model analytic study and simulation

    International Nuclear Information System (INIS)

    Wildenbeest, J.G.W.; Abbink, D.A.; Boessenkool, H.; Heemskerk, C.J.M.; Koning, J.F.

    2013-01-01

    Highlights: ► We developed a computational model of a human operator controlling a teleoperation system based on feedforward control, while performing a free-space motion. ► We studied how assistive forces affect the response of the combined system of telemanipulator and operator, when operator admittance changes due to task instruction or arm configuration. ► Inappropriate assistive forces can lead to assistive forces that are either not perceived, or deflect the combined system; assistive forces should be tailored to operator admittance. ► It is required to study, measure and quantitatively model operator behavior for teleoperated tasks in more detail. -- Abstract: Haptic shared control is a promising approach to increase the effectiveness of remote handling operations. While in haptic shared control the operator is continuously guided with assistive forces, the operator's response to forces is not fully understood. This study describes the development of a computational model of a human operator controlling a teleoperation system based on feedforward control. In a simulation, the operator's response to repulsive forces in free-space motions was modeled for two degrees of freedom, for two operator endpoint admittances (estimated by means of closed-loop identification techniques). The simulation results show that similar repulsive forces lead to substantial discrepancies in response when admittance settings mismatch; wrongly estimated operator admittances can lead to assistive forces that are either not perceived, or deflect the combined system of human operator and telemanipulator. It is concluded that assistive forces should be tailored to the arm configuration and the type of task performed. In order to utilize haptic shared control to its full potential, it is required to study, measure and quantitatively model operator behavior for teleoperated tasks in more detail

  20. How operator admittance affects the response of a teleoperation system to assistive forces – A model analytic study and simulation

    Energy Technology Data Exchange (ETDEWEB)

    Wildenbeest, J.G.W., E-mail: j.g.w.wildenbeest@tudelft.nl [Department of Biomechanical Engineering, Delft University of Technology, Mekelweg 2, 2626 CD Delft (Netherlands); Heemskerk Innovative Technology B.V., Jonckerweg 12, 2201 DZ Noordwijk (Netherlands); Abbink, D.A. [Department of Biomechanical Engineering, Delft University of Technology, Mekelweg 2, 2626 CD Delft (Netherlands); Boessenkool, H. [FOM Institute DIFFER (Dutch Institute of Fundamental Energy Research), Association EUROTOM-FOM, Partner in the Trilateral Eurogio Cluster, P.O. Box 1207, 3430 BE Nieuwegein (Netherlands); Heemskerk, C.J.M.; Koning, J.F. [Heemskerk Innovative Technology B.V., Jonckerweg 12, 2201 DZ Noordwijk (Netherlands); FOM Institute DIFFER (Dutch Institute of Fundamental Energy Research), Association EUROTOM-FOM, Partner in the Trilateral Eurogio Cluster, P.O. Box 1207, 3430 BE Nieuwegein (Netherlands)

    2013-10-15

    Highlights: ► We developed a computational model of a human operator controlling a teleoperation system based on feedforward control, while performing a free-space motion. ► We studied how assistive forces affect the response of the combined system of telemanipulator and operator, when operator admittance changes due to task instruction or arm configuration. ► Inappropriate assistive forces can lead to assistive forces that are either not perceived, or deflect the combined system; assistive forces should be tailored to operator admittance. ► It is required to study, measure and quantitatively model operator behavior for teleoperated tasks in more detail. -- Abstract: Haptic shared control is a promising approach to increase the effectiveness of remote handling operations. While in haptic shared control the operator is continuously guided with assistive forces, the operator's response to forces is not fully understood. This study describes the development of a computational model of a human operator controlling a teleoperation system based on feedforward control. In a simulation, the operator's response to repulsive forces in free-space motions was modeled for two degrees of freedom, for two operator endpoint admittances (estimated by means of closed-loop identification techniques). The simulation results show that similar repulsive forces lead to substantial discrepancies in response when admittance settings mismatch; wrongly estimated operator admittances can lead to assistive forces that are either not perceived, or deflect the combined system of human operator and telemanipulator. It is concluded that assistive forces should be tailored to the arm configuration and the type of task performed. In order to utilize haptic shared control to its full potential, it is required to study, measure and quantitatively model operator behavior for teleoperated tasks in more detail.

  1. Switching-based Mapping and Control for Haptic Teleoperation of Aerial Robots

    NARCIS (Netherlands)

    Mersha, A.Y.; Stramigioli, Stefano; Carloni, Raffaella

    2012-01-01

    This paper deals with the bilateral teleoperation of underactuated aerial robots by means of a haptic interface. In particular, we propose a switching-based state mapping and control algorithm between a rate-based passive controller, which addresses the workspace incompatibility between the master

  2. A Ground-Based Validation System of Teleoperation for a Space Robot

    Directory of Open Access Journals (Sweden)

    Xueqian Wang

    2012-10-01

    Full Text Available Teleoperation of space robots is very important for future on-orbit service. In order to assure the task is accomplished successfully, ground experiments are required to verify the function and validity of the teleoperation system before a space robot is launched. In this paper, a ground-based validation subsystem is developed as a part of a teleoperation system. The subsystem is mainly composed of four parts: the input verification module, the onboard verification module, the dynamic and image workstation, and the communication simulator. The input verification module, consisting of hardware and software of the master, is used to verify the input ability. The onboard verification module, consisting of the same hardware and software as the onboard processor, is used to verify the processor's computing ability and execution schedule. In addition, the dynamic and image workstation calculates the dynamic response of the space robot and target, and generates emulated camera images, including the hand-eye cameras, global-vision camera and rendezvous camera. The communication simulator provides fidelity communication conditions, i.e., time delays and communication bandwidth. Lastly, we integrated a teleoperation system and conducted many experiments on the system. Experiment results show that the ground system is very useful for verified teleoperation technology.

  3. Two-Channel Transparency-Optimized Control Architectures in Bilateral Teleoperation With Time Delay.

    Science.gov (United States)

    Kim, Jonghyun; Chang, Pyung Hun; Park, Hyung-Soon

    2013-01-01

    This paper introduces transparency-optimized control architectures (TOCAs) using two communication channels. Two classes of two-channel TOCAs are found, thereby showing that two channels are sufficient to achieve transparency. These TOCAs achieve a greater level of transparency but poorer stability than three-channel TOCAs and four-channel TOCAs. Stability of the two-channel TOCAs has been enhanced while minimizing transparency degradation by adding a filter; and a combined use of the two classes of two-channel TOCAs is proposed for both free space and constrained motion, which involve switching between two TOCAs for transition between free space and constrained motions. The stability condition of the switched teleoperation system is derived for practical applications. Through the one degree-of-freedom (DOF) experiment, the proposed two-channel TOCAs were shown to operate stably, while achieving better transparency under time delay than the other TOCAs.

  4. Two-Channel Transparency-Optimized Control Architectures in Bilateral Teleoperation With Time Delay

    Science.gov (United States)

    Kim, Jonghyun; Chang, Pyung Hun; Park, Hyung-Soon

    2013-01-01

    This paper introduces transparency-optimized control architectures (TOCAs) using two communication channels. Two classes of two-channel TOCAs are found, thereby showing that two channels are sufficient to achieve transparency. These TOCAs achieve a greater level of transparency but poorer stability than three-channel TOCAs and four-channel TOCAs. Stability of the two-channel TOCAs has been enhanced while minimizing transparency degradation by adding a filter; and a combined use of the two classes of two-channel TOCAs is proposed for both free space and constrained motion, which involve switching between two TOCAs for transition between free space and constrained motions. The stability condition of the switched teleoperation system is derived for practical applications. Through the one degree-of-freedom (DOF) experiment, the proposed two-channel TOCAs were shown to operate stably, while achieving better transparency under time delay than the other TOCAs. PMID:23833548

  5. The Effect of Trial-by-trial Adaptation on Conflicts in Haptic Shared Control for Free-Air Teleoperation Tasks

    NARCIS (Netherlands)

    de Jonge, A. W.; Wildenbeest, J. G. W.; Boessenkool, H.; Abbink, D. A.

    2016-01-01

    Haptic shared control can improve execution of teleoperation and driving tasks. However, shared control designs may suffer from conflicts between individual human operators and constant haptic assistance when their desired trajectories differ, leading to momentarily increased forces, discomfort or

  6. Operator dynamics for stability condition in haptic and teleoperation system: A survey.

    Science.gov (United States)

    Li, Hongbing; Zhang, Lei; Kawashima, Kenji

    2018-04-01

    Currently, haptic systems ignore the varying impedance of the human hand with its countless configurations and thus cannot recreate the complex haptic interactions. The literature does not reveal a comprehensive survey on the methods proposed and this study is an attempt to bridge this gap. The paper includes an extensive review of human arm impedance modeling and control deployed to address inherent stability and transparency issues in haptic interaction and teleoperation systems. Detailed classification and comparative study of various contributions in human arm modeling are presented and summarized in tables and diagrams. The main challenges in modeling human arm impedance for haptic robotic applications are identified. The possible future research directions are outlined based on the gaps identified in the survey. Copyright © 2018 John Wiley & Sons, Ltd.

  7. Low-cost teleoperator-controlled vehicle for damage assessment and radiation dose measurement

    International Nuclear Information System (INIS)

    Tyree, W.H.

    1991-01-01

    A low-cost, disposable, radio-controlled, remote-reading, ionizing radiation and surveillance teleoperator re-entry vehicle has been built. The vehicle carries equipment, measures radiation levels, and evaluates building conditions. The basic vehicle, radio control with amplifiers, telemetry, elevator, and video camera with monitor cost less than $2500. Velcro-mounted alpha, beta-gamma, and neutron sensing equipment is used in the present system. Many types of health physics radiation measuring equipment may be substituted on the vehicle. The system includes a black-and-white video camera to observe the environment surrounding the vehicle. The camera is mounted on a vertical elevator extendible to 11 feet above the floor. The present vehicle uses a video camera with an umbilical cord between the vehicle and the operators. Preferred operation would eliminate the umbilical. Video monitoring equipment is part of the operator control system. Power for the vehicle equipment is carried on board and supplied by sealed lead-acid batteries. Radios are powered by 9-V alkaline batteries. The radio control receiver, servo drivers, high-power amplifier and 49-MHz FM transceivers were irradiated at moderate rates with neutron and gamma doses to 3000 Rem and 300 Rem, respectively, to ensure system operation

  8. Mobile robot teleoperation system for plant inspection based on collecting and utilizing environment data

    International Nuclear Information System (INIS)

    Kawabata, Kuniaki; Watanabe, Nobuyasu; Asama, Hajime; Kita, Nobuyuki; Yang, Hai-quan

    2004-01-01

    This paper describes about development of a mobile robot teleoperation system for plant inspection. In our system, the robot is an agent for collecting the environment data and is also teleoperated by the operator utilizing such accumulated environment data which is displayed on the operation interface. The robot equips many sensors for detecting the state of the robot and the environment. Such redundant sensory system can be also utilized to collect the working environment data on-site while the robot is patrolling. Here, proposed system introduces the framework of collecting and utilizing environment data for adaptive plant inspection using the teleoperated robot. A view simulator is primarily aiming to facilitate evaluation of the visual sensors and algorithms and is also extended as the Environment Server, which is the core technology of the digital maintenance field for the plant inspection. In order to construct detailed seamless digital maintenance field mobile robotic technology is utilized to supply environment data to the server. The sensory system on the robot collect the environment data on-site and such collected data is uploaded to the Environment Server for compiling accurate digital environment data base. The robot operator also can utilize accumulated environment data by referring to the Environment Server. In this paper, we explain the concept of our teleoperation system based on collecting and utilizing environment data. Using developed system, inspection patrol experiments were attempted in the plant mock-up. Experimental results are shown by using an omnidirectional mobile robot with sensory system and the Environment Server. (author)

  9. Advanced instrumentation and teleoperation

    International Nuclear Information System (INIS)

    Decreton, M.

    1998-01-01

    SCK-CEN's advanced instrumentation and teleoperation project aims at evaluating the potential of a telerobotic approach in a nuclear environment and, in particular, the use of remote-perception systems. Main achievements in 1997 in the areas of R and D on radiation tolerance for remote sensing, optical fibres and optical-fibre sensors, and computer-aided teleoperation are reported

  10. The evolution of teleoperated manipulators at ORNL

    International Nuclear Information System (INIS)

    Kress, R.L.; Jansen, J.F.; Noakes, M.W.; Herndon, J.N.

    1996-01-01

    ORNL has made significant contributions to teleoperator and telerobotics technology for two decades and continues with an aggressive program today. Examples of past projects are: (1) the M2 servomanipulator, which was the first digitally controlled teleoperator; (2) the Advanced Servomanipulator (ASM), which was the first remotely maintainable teleoperator; (3) the CESARm/Kraft dissimilar teleoperated system; and (4) the Laboratory Telerobotic Manipulator (LTM), a 7-Degree-of-Freedom (7-DOF) telerobot built as a prototype for work in space. More recently, ORNL has become heavily involved with Environmental Restoration and Waste Management (ERWM) robotics programs funded by the Department of Energy (DOE). The ERWM program requires high payloads and high dexterity. As a result, a hydraulically actuated, dual-arm system comprised of two 6-DOF arms mounted on a 5-DOF base has been constructed and is being used today for various research tasks and for decontamination and dismantlement activities. All of these teleoperated manipulator systems build upon the experiences gained throughout the almost two decades of development. Each system incorporates not only the latest technology in computers, sensors, and electronics, but each new . system also adds at least one new feature to the technologies already developed and demonstrated in the previous system(s). As a result of this process, a serious study of these manipulator systems is a study in the evolution of teleoperated manipulator the systems in general. This provides insight not only into the research and development paths chosen in the past, but also into the appropriate directions for future teleoperator and telerobotics research. This paper examines each of the teleoperated/telerobotic systems developed at ORNL, summarizes their features and capabilities, examines the state of the most current telerobotic system (the Dual Arm Work Module), PM provides direction for a Next Generation Telerobotic Manipulator system

  11. A novel control framework for nonlinear time-delayed dual-master/single-slave teleoperation.

    Science.gov (United States)

    Ghorbanian, A; Rezaei, S M; Khoogar, A R; Zareinejad, M; Baghestan, K

    2013-03-01

    A novel trilateral control architecture for the Dual-master/Single-slave teleoperation is proposed in this paper. This framework has been used in surgical training and rehabilitation applications. In this structure, the slave motion has been controlled by weighted summation of signals transmitted by the operator referring to task control authority through the dominance factors. The nonlinear dynamics for telemanipulators are considered which were considered as disregarded issues in previous studies of this field. Bounded variable time-delay has been considered which affects the transmitted signals in the communication channels. Two types of controllers have been offered and an appropriate stability analysis for each controller has been demonstrated. The first controller includes Proportional with dissipative gains (P+d). The second one contains Proportional and Derivative with dissipative gains (PD+d). In both cases, the stability of the trilateral control framework is preserved by choosing appropriate controller's gains. It is shown that these controllers attempt to coordinate the positions of telemanipulators in the free motion condition. The stability of the Dual-master/Single-slave teleoperation has been proved by an appropriate Lyapunov like function and the stability conditions have been studied. In addition the proposed PD+d control architecture is modified for trilateral teleoperation with internet communication between telemanipulators that caused such communication complications as packet loss, data duplication and swapping. A number of experiments have been conducted with various levels of dominance factor to validate the effectiveness of the new control architecture. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.

  12. TAO-2/SPARTE, a language-enhanced computer aided teleoperation system

    International Nuclear Information System (INIS)

    Gravez, P.; Fournier, R.

    1991-01-01

    TAO-2 is a computer system designed by CEA/DTA/UR for the remote control of nuclear servicing servomanipulators. It results from several years of research which have led to the current availability of an industrial product featuring highly advanced performances. For undersea applications, a development has also been carried out with CYBERNETIX for controlling the new hydraulic arm built by this company. An integral element of TAO-2 is the SPARTE language which deals with off-line task programming and focuses on combined manual, automatic and mixed control modes. Additionally, it takes into account the on-line part of the human operator relative to adjustment, monitoring and incident recovery. Other promising features are hybrid control specification, mechanisms for the management of external events and 'learning by touching' capabilities. The present paper describes the basic principles of TAO-2. It first recalls the fundamentals of Computer Aided Teleoperation (CAT). The functional and hardware architectures which implement the TAO-2 CAT concepts are then outlined. The next parts emphasize the original characteristics of the SPARTE control and programming language. The paper ends with a brief presentation of our approach for CAT symbolic control

  13. Teleoperation System with Hybrid Pneumatic-Piezoelectric Actuation for MRI-Guided Needle Insertion with Haptic Feedback.

    Science.gov (United States)

    Shang, Weijian; Su, Hao; Li, Gang; Fischer, Gregory S

    2013-01-01

    This paper presents a surgical master-slave tele-operation system for percutaneous interventional procedures under continuous magnetic resonance imaging (MRI) guidance. This system consists of a piezoelectrically actuated slave robot for needle placement with integrated fiber optic force sensor utilizing Fabry-Perot interferometry (FPI) sensing principle. The sensor flexure is optimized and embedded to the slave robot for measuring needle insertion force. A novel, compact opto-mechanical FPI sensor interface is integrated into an MRI robot control system. By leveraging the complementary features of pneumatic and piezoelectric actuation, a pneumatically actuated haptic master robot is also developed to render force associated with needle placement interventions to the clinician. An aluminum load cell is implemented and calibrated to close the impedance control loop of the master robot. A force-position control algorithm is developed to control the hybrid actuated system. Teleoperated needle insertion is demonstrated under live MR imaging, where the slave robot resides in the scanner bore and the user manipulates the master beside the patient outside the bore. Force and position tracking results of the master-slave robot are demonstrated to validate the tracking performance of the integrated system. It has a position tracking error of 0.318mm and sine wave force tracking error of 2.227N.

  14. Teleoperation System with Hybrid Pneumatic-Piezoelectric Actuation for MRI-Guided Needle Insertion with Haptic Feedback

    Science.gov (United States)

    Shang, Weijian; Su, Hao; Li, Gang; Fischer, Gregory S.

    2014-01-01

    This paper presents a surgical master-slave tele-operation system for percutaneous interventional procedures under continuous magnetic resonance imaging (MRI) guidance. This system consists of a piezoelectrically actuated slave robot for needle placement with integrated fiber optic force sensor utilizing Fabry-Perot interferometry (FPI) sensing principle. The sensor flexure is optimized and embedded to the slave robot for measuring needle insertion force. A novel, compact opto-mechanical FPI sensor interface is integrated into an MRI robot control system. By leveraging the complementary features of pneumatic and piezoelectric actuation, a pneumatically actuated haptic master robot is also developed to render force associated with needle placement interventions to the clinician. An aluminum load cell is implemented and calibrated to close the impedance control loop of the master robot. A force-position control algorithm is developed to control the hybrid actuated system. Teleoperated needle insertion is demonstrated under live MR imaging, where the slave robot resides in the scanner bore and the user manipulates the master beside the patient outside the bore. Force and position tracking results of the master-slave robot are demonstrated to validate the tracking performance of the integrated system. It has a position tracking error of 0.318mm and sine wave force tracking error of 2.227N. PMID:25126446

  15. Effect of biased feedback on motor imagery learning in BCI-teleoperation system

    Directory of Open Access Journals (Sweden)

    Maryam eAlimardani

    2014-04-01

    Full Text Available Feedback design is an important issue in motor imagery BCI systems. Regardless, to date it has not been reported how feedback presentation can optimize co-adaptation between a human brain and such systems. This paper assesses the effect of realistic visual feedback on users’ BC performance and motor imagery skills. We previously developed a tele-operation system for a pair of humanlike robotic hands and showed that BCI control of such hands along with first-person perspective visual feedback of movements can arouse a sense of embodiment in the operators. In the first stage of this study, we found that the intensity of this ownership illusion was associated with feedback presentation and subjects’ performance during BCI motion control. In the second stage, we probed the effect of positive and negative feedback bias on subjects’ BCI performance and motor imagery skills. Although the subject specific classifier, which was set up at the beginning of experiment, detected no significant change in the subjects’ online performance, evaluation of brain activity patterns revealed that subjects’ self-regulation of motor imagery features improved due to a positive bias of feedback and a possible occurrence of ownership illusion. Our findings suggest that in general training protocols for BCIs, manipulation of feedback can play an important role in the optimization of subjects’ motor imagery skills.

  16. Haptic feedback designs in teleoperation systems for minimal invasive surgery

    NARCIS (Netherlands)

    Font, I.; Weiland, S.; Franken, M.; Steinbuch, M.; Rovers, A.F.

    2004-01-01

    One of the major shortcomings of state-of-the-art robotic systems for minimal invasive surgery is the lack of haptic feedback for the surgeon. In order to provide haptic information, sensors and actuators have to be added to the master and slave device. A control system should process the data and

  17. Human factors activities in teleoperator development at the Oak Ridge National Laboratory

    International Nuclear Information System (INIS)

    Draper, J.V.; Herndon, J.N.

    1986-01-01

    The Consolidated Fuel Reprocessing Program (CFRP) at the Oak Ridge National Laboratory is developing advanced teleoperator systems for maintenance of future nuclear reprocessing facilities. Remote maintenance systems developed by the CFRP emphasize man-in-the-loop teleoperation. Consequently, human factors issues which affect teleoperator performance must be addressed. This papers surveys research and development activities carried out by the human factors group within the Remote Control Engineering Task of the CFRP

  18. Performance experiments with alternative advanced teleoperator control modes for a simulated solar maximum satellite repair

    Science.gov (United States)

    Das, H.; Zak, H.; Kim, W. S.; Bejczy, A. K.; Schenker, P. S.

    1992-01-01

    Experiments are described which were conducted at the JPL Advanced Teleoperator Lab to demonstrate and evaluate the effectiveness of various teleoperator control modes in the performance of a simulated Solar Max Satellite Repair (SMSR) task. THe SMSR was selected as a test because it is very rich in performance capability requirements and it actually has been performed by two EVA astronauts in the Space Shuttle Bay in 1984. The main subtasks are: thermal blanket removal; installation of a hinge attachment for electrical panel opening; opening of electrical panel; removal of electrical connectors; relining of cable bundles; replacement of electrical panel; securing parts and cables; re-mate electrical connectors; closing of electrical panel; and reinstating thermal blanket. The current performance experiments are limited to thermal blanket cutting, electrical panel unbolting and handling electrical bundles and connectors. In one formal experiment even different control modes were applied to the unbolting and reinsertion of electrical panel screws subtasks. The seven control modes are alternative combinations of manual position and rate control with force feedback and remote compliance referenced to force-torque sensor information. Force-torque sensor and end effector position data and task completion times were recorded for analysis and quantification of operator performance.

  19. Neural-adaptive control of single-master-multiple-slaves teleoperation for coordinated multiple mobile manipulators with time-varying communication delays and input uncertainties.

    Science.gov (United States)

    Li, Zhijun; Su, Chun-Yi

    2013-09-01

    In this paper, adaptive neural network control is investigated for single-master-multiple-slaves teleoperation in consideration of time delays and input dead-zone uncertainties for multiple mobile manipulators carrying a common object in a cooperative manner. Firstly, concise dynamics of teleoperation systems consisting of a single master robot, multiple coordinated slave robots, and the object are developed in the task space. To handle asymmetric time-varying delays in communication channels and unknown asymmetric input dead zones, the nonlinear dynamics of the teleoperation system are transformed into two subsystems through feedback linearization: local master or slave dynamics including the unknown input dead zones and delayed dynamics for the purpose of synchronization. Then, a model reference neural network control strategy based on linear matrix inequalities (LMI) and adaptive techniques is proposed. The developed control approach ensures that the defined tracking errors converge to zero whereas the coordination internal force errors remain bounded and can be made arbitrarily small. Throughout this paper, stability analysis is performed via explicit Lyapunov techniques under specific LMI conditions. The proposed adaptive neural network control scheme is robust against motion disturbances, parametric uncertainties, time-varying delays, and input dead zones, which is validated by simulation studies.

  20. Joining teleoperation with robotics for advanced manipulation in hostile environments

    International Nuclear Information System (INIS)

    Martin, H.L.; Hamel, W.R.

    1984-01-01

    Manipulators have been used for many years to perform remote handling tasks in hazardous environments. The development history of teleoperators is reviewed, and applications around the world are summarized. The effect of computer supervisory control is discussed, and similarities between robots and teleoperator research activities are delineated. With improved control strategies and system designs, combination of positive attributes of robots with teleoperators will lead to advanced machines capable of autonomy in unstructured environments. This concept of a telerobot is introduced as a goal for future activities

  1. Towards multi-platform software architecture for Collaborative Teleoperation

    Science.gov (United States)

    Domingues, Christophe; Otmane, Samir; Davesne, Frederic; Mallem, Malik

    2009-03-01

    Augmented Reality (AR) can provide to a Human Operator (HO) a real help in achieving complex tasks, such as remote control of robots and cooperative teleassistance. Using appropriate augmentations, the HO can interact faster, safer and easier with the remote real world. In this paper, we present an extension of an existing distributed software and network architecture for collaborative teleoperation based on networked human-scaled mixed reality and mobile platform. The first teleoperation system was composed by a VR application and a Web application. However the 2 systems cannot be used together and it is impossible to control a distant robot simultaneously. Our goal is to update the teleoperation system to permit a heterogeneous collaborative teleoperation between the 2 platforms. An important feature of this interface is based on the use of different Virtual Reality platforms and different Mobile platforms to control one or many robots.

  2. Towards multi-platform software architecture for Collaborative Teleoperation

    International Nuclear Information System (INIS)

    Domingues, Christophe; Otmane, Samir; Davesne, Frederic; Mallem, Malik

    2009-01-01

    Augmented Reality (AR) can provide to a Human Operator (HO) a real help in achieving complex tasks, such as remote control of robots and cooperative teleassistance. Using appropriate augmentations, the HO can interact faster, safer and easier with the remote real world. In this paper, we present an extension of an existing distributed software and network architecture for collaborative teleoperation based on networked human-scaled mixed reality and mobile platform. The first teleoperation system was composed by a VR application and a Web application. However the 2 systems cannot be used together and it is impossible to control a distant robot simultaneously. Our goal is to update the teleoperation system to permit a heterogeneous collaborative teleoperation between the 2 platforms. An important feature of this interface is based on the use of different Virtual Reality platforms and different Mobile platforms to control one or many robots.

  3. Teleoperation over low bandwidth communication links

    International Nuclear Information System (INIS)

    Fryer, R.J.; Mair, G.M.; Clark, N.; Heng, J.

    1996-01-01

    Teleoperation is well established for many areas of hazardous environment working. Where such environments are well structured and contained, such as within a working plant, communications bandwidths need not be a constraining factor. However where the worksite is remote, large, poorly structured or damaged communications rapidly become a critical factor in the efficient deployment and use of teleoperation equipment. The paper justifies and describes means which we are exploring to reduce the required communications bandwidth for teleoperation whist retaining full functionality. Techniques involved include incorporation of local intelligence at the worksite, with bandwidth devoted to high-level up-link control signals and down-link feedback, and the use of highly compressed video feeding 'virtual reality type' HMDs to provide maximum system transparency for the operator. The work is drawing on previous experience with an 'anthropomorphic robot heat' for telepresence work, and proprietary algorithms capable of compressing full colour video to standard telephone modem data rates. (Author)

  4. Experimental Evaluation of Novel Master-Slave Configurations for Position Control under Random Network Delay and Variable Load for Teleoperation

    Directory of Open Access Journals (Sweden)

    Ahmet Kuzu

    2014-01-01

    Full Text Available This paper proposes two novel master-slave configurations that provide improvements in both control and communication aspects of teleoperation systems to achieve an overall improved performance in position control. The proposed novel master-slave configurations integrate modular control and communication approaches, consisting of a delay regulator to address problems related to variable network delay common to such systems, and a model tracking control that runs on the slave side for the compensation of uncertainties and model mismatch on the slave side. One of the configurations uses a sliding mode observer and the other one uses a modified Smith predictor scheme on the master side to ensure position transparency between the master and slave, while reference tracking of the slave is ensured by a proportional-differentiator type controller in both configurations. Experiments conducted for the networked position control of a single-link arm under system uncertainties and randomly varying network delays demonstrate significant performance improvements with both configurations over the past literature.

  5. Manipulators in teleoperation

    International Nuclear Information System (INIS)

    Hamel, W.R.

    1985-01-01

    Teleoperated manipulators represent a mature technology which has evolved over nearly 40 years of applications experience. The wide range of manipulator concepts developed thus far reflect differing applications, priorities, and philosophies. The technology of teleoperated manipulators is in a rapid state of change (just as are industrial robotics) fueled by microelectronics and materials advances. Large strides in performance and dexterity are now practical and advantageous. Even though improved controls and sensory feedback will increase functionality, overall costs should be reduced as manipulator fabrication and assembly labor costs are reduced through improved manufacturing technology. As these advances begin to materialize, broader applications in nonnuclear areas should occur

  6. Mobile teleoperator remote sensing

    International Nuclear Information System (INIS)

    Hall, E.L.

    1986-01-01

    Sensing systems are an important element of mobile teleoperators and robots. This paper discusses certain problems and limitations of vision and other sensing systems with respect to operations in a radiological accident environment. Methods which appear promising for near-term improvements to sensor technology are described. 3 refs

  7. Robot technology. Vol. 3B. Teleoperation and robotics: applications and technology

    Energy Technology Data Exchange (ETDEWEB)

    Vertut, J; Coiffet, P

    1985-01-01

    Teleoperation is concerned with the exploration and exploitation of of spaces which do not allow, because of their inaccessibility or hostility, direct access to man. This volume (Parts 2, 3 and 4) covers the contribution of computer science and automatic control to this technology. Part 2 includes a description of teleoperation systems followed by chapters on the operator substitution function by computer feedback to the operator. Part 3 has chapters on performance evaluation of teleoperation systems and the human operator in the teleoperation system. Part 4 is about applications of teleoperation in the nuclear industry, underwater, in space, in medicine, in industry and in security and civil protection. The nuclear applications include research and pilot facilities, reactor operation and maintenance, reactor decommissioning and dismantling and in emergencies, for example following a reactor accident. (U.K.).

  8. Teleoperation for learning by demonstration

    DEFF Research Database (Denmark)

    Kukliński, Kamil; Fischer, Kerstin; Marhenke, Ilka

    2014-01-01

    Learning by demonstration is a useful technique to augment a robot's behavioral inventory, and teleoperation allows lay users to demonstrate novel behaviors intuitively to the robot. In this paper, we compare two modes of teleoperation of an industrial robot, the demonstration by means of a data...... glove and by means of a control object (peg). Experiments with 16 lay users, performing assembly task on the Cranfield benchmark objects, show that the control peg leads to more success, more efficient demonstration and fewer errors....

  9. Teleoperation System with Hybrid Pneumatic-Piezoelectric Actuation for MRI-Guided Needle Insertion with Haptic Feedback

    OpenAIRE

    Shang, Weijian; Su, Hao; Li, Gang; Fischer, Gregory S.

    2013-01-01

    This paper presents a surgical master-slave tele-operation system for percutaneous interventional procedures under continuous magnetic resonance imaging (MRI) guidance. This system consists of a piezoelectrically actuated slave robot for needle placement with integrated fiber optic force sensor utilizing Fabry-Perot interferometry (FPI) sensing principle. The sensor flexure is optimized and embedded to the slave robot for measuring needle insertion force. A novel, compact opto-mechanical FPI ...

  10. Modular architecture for robotics and teleoperation

    Science.gov (United States)

    Anderson, Robert J.

    1996-12-03

    Systems and methods for modularization and discretization of real-time robot, telerobot and teleoperation systems using passive, network based control laws. Modules consist of network one-ports and two-ports. Wave variables and position information are passed between modules. The behavior of each module is decomposed into uncoupled linear-time-invariant, and coupled, nonlinear memoryless elements and then are separately discretized.

  11. Dual Arm Work Platform teleoperated robotics system. Innovative technology summary report

    International Nuclear Information System (INIS)

    1998-12-01

    The US Department of Energy (DOE) and the Federal Energy Technology Center (FETC) has developed a Large Scale Demonstration Project (LSDP) at the Chicago Pile-5 Research Reactor (CP-5) at Argonne National Laboratory-East (ANL). The objective of the LSDP is to demonstrate potentially beneficial Deactivation and Decommissioning (D and D) technologies in comparison with current baseline technologies. The Dual Arm Work Platform (DAWP) demonstration focused on the use of the DAWP to segment and dismantle the CP-5 reactor tank and surrounding bio-shield components (including the graphite block reflector, lead and boral sheeting) and performing some minor tasks best suited for the use of teleoperated robotics that were not evaluated in this demonstration. The DAWP system is not a commercially available product at this time. The CP-5 implementation was its first D and D application. The demonstration of the DAWP was to determine the areas on which improvements must be made to make this technology commercially viable. The results of the demonstration are included in this greenbook. It is the intention of the developers to incorporate lessons learned at this demonstration and current technological advancements in robotics into the next generation of the DAWP

  12. Design considerations for teleoperation systems operating in gas-tight argon cells

    Directory of Open Access Journals (Sweden)

    Seungnam Yu

    2017-12-01

    Full Text Available In the nuclear industry, mechanical engineers spend a significant portion of their time designing equipment such as manipulators, bogies, mechanical grippers, and so on. Some customized designs can be considered as standard mechanical equipment in this area, although it is not unusual to find that an existing design cannot simply be copied from one project to another. Varied performance requirements can dictate that redesign, often quite extensive redesign, is required. However, if something similar has been done before, engineers could use that as a starting point for the new project. In this regard, this study presents several guidelines inspired by previous design knowledge for similar development cases. Moreover, this study presents more detailed suggestions such as design guidelines for an argon-based hot cell atmosphere and design experience for a large-scale practical hot cell facility. Design considerations and case studies dealt with in this study are dedicated to teleoperation manipulators that are used at a large-scale argon cell facility for pyroprocess integrated inactive demonstration (PRIDE, at the Korea Atomic Energy Research Institute. In particular, for case studies to support the suggested recommendations, a fabricated telemanipulator system for PRIDE is introduced, and several kinds of experimental results associated with it are presented.

  13. Operator learning effects in teleoperated rendezvous & docking

    Science.gov (United States)

    Wilde, M.; Harder, J.; Purschke, R.

    Teleoperation of spacecraft proximity operations and docking requires delicate timing and coordination of spacecraft maneuvers. Experience has shown that human operators show large performance fluctuations in these areas, which are a major factor to be addressed in operator training. In order to allow the quantification of the impact of these human fluctuations on control system performance and the human perception of this performance, a learning curve study was conducted with teleoperated final approach and docking scenarios. Over a period of ten experiment days, three test participants were tasked with repeatedly completing a set of three training scenarios. The scenarios were designed to contain different combinations of the major elements of any final approach and docking situation, and to feature an increasing difficulty level. The individual difficulty levels for the three operators furthermore differed in the level of operator support functions available in their human-machine interfaces. Operator performance in the test scenarios were evaluated in the fields approach success and precision, docking safety, and approach efficiency by a combination of recorded maneuver data and questionnaires. The results show that operator experience and the associated learning curves increase operator performance substantially, regardless of the support system used. The paper also shows that the fluctuations in operator performance and self-perception are substantial between as well as within experiment days, and must be reckoned with in teleoperation system design and mission planning.

  14. The development of robotic system for the nuclear power plants - A study on the manipulation of teleoperation system using redundant robot

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Chung Oh; Cho, Hyung Seok; Jang, Pyung Hoon; Park, Ki Chul; Hyun, Jang Hwan; Kim, Joo Gon; Park, Young Joon; Hwang, Woong Tae; Jeon, Yong Soo; Lee, Joo Yeon; Ahn, Kyung Mo [Korea Advanced Institute of Science and Technology, Taejon (Korea, Republic of)

    1996-07-01

    In this project the following 4 sub- projects have been studied for use in nuclear power plants. 1) Development of precision control method for the hydraulic and pneumatic actuators: The fuzzy gain tuner for the pneumatic servo position control system with the state feedback controller was designed= by using the professional knowledge. Through the experimental study, this control method was verified to obtain the optimal fain automatically. 2) Development of an universal master arm and force reflecting teleoperation system: An autonomous telerobot system with a vision based force reflection capability was developed. To effectly implement visual force feedback, 3 different control methods were also developed. 3) A study on the analysis and control of the redundant robot manipulator: An optimal joint-path of 8-DOF redundant KAEROT for the nozzle dam task was generated and its effectiveness and safety was verified by using graphic/animation tool. The proposed dynamic control algorithm for the redundant robot was applied to the experiment of planar 3- DOF redundant robot, showing good performance. 4) A study on the robot/user interface design: A set of final design and its console table was developed, which has metaphorical identity and user-friendly interface and a study mock-up was also developed to identify the possibility in a clear form. 33 refs., 3 tabs., 11 figs. (author)

  15. Advanced teleoperation in nuclear applications

    International Nuclear Information System (INIS)

    Hamel, W.R.; Feldman, M.J.; Martin, H.L.

    1984-01-01

    A new generation of integrated remote maintenance systems is being developed to meet the needs of future nuclear fuel reprocessing at the Oak Ridge National Laboratory. Development activities cover all aspects of an advanced teleoperated maintenance system with particular emphasis on a new force-reflecting servomanipulator concept. The new manipulator, called the advanced servomanipulator, is microprocessor controlled and is designed to achieve force-reflection performance near that of mechanical master/slave manipulators. The advanced servomanipulator uses a gear-drive transmission which permits modularization for remote maintainability (by other advanced servomanipulators) and increases reliability. Human factors analysis has been used to develop an improved man/machine interface concept based upon colorgraphic displays and menu-driven tough screens. Initial test and evaluation of two advanced servomanipulator slave arms and several other development components have begun. 9 references, 5 figures

  16. Communications options for teleoperations

    International Nuclear Information System (INIS)

    Springthorpe, R.T.

    1991-08-01

    TELEMAN is a programme of research work on remote handling in hazardous or disordered nuclear environments, carried out for the European Atomic Agency Community by a number of participants, part funded by the CEC. The objective is to develop advanced tele-operated robots for users in the nuclear industry to contribute to safety and profitability. A study performed by AEA Technology in 1989 for the TELEMAN programme examined communications standards and made recommendations where possible. It was recognised that a control architecture needed to be defined before determining which communications standards are appropriate. Several developing areas were recommended for further study and the results of this study are reported here. (author)

  17. Mechanical accessories for mobile teleoperators

    International Nuclear Information System (INIS)

    Feldman, M.J.; Herndon, J.N.

    1985-01-01

    The choice of optimum mechanical accessories for mobile teleoperators involves matching the criteria for emergency response with the available technology. This paper presents a general background to teleoperations, a potpourri of the manipulator systems available, and an argument for force reflecting manipulation. The theme presented is that the accomplishment of humanlike endeavors in hostile environments will be most successful when man model capabilities are utilized. The application of recent electronic technology to manipulator development has made new tools available to be applied to emergency response activities. The development activities described are products of the Consolidated Fuel Reprocessing Program at the Oak Ridge National Laboratory. 13 refs., 7 figs

  18. Robot technology. Vol. 3A. Teleoperation and robotics: evolution and development

    Energy Technology Data Exchange (ETDEWEB)

    Vertut, J; Coiffet, P

    1985-01-01

    Teleoperation is concerned with the exploration and exploitation of spaces which do not allow, because of their inaccessibility or hostility, direct access to man. This volume (Part 1) covers the advances in mastering teleoperation, using only a knowledge of mechanics. The story is one of a gradual orderly succession of creative designs over many years. Diagrams and photographs illustrate the designs. This a comprehensive coverage of the subject. Following a chapter on the background to the subject the chapters cover the classification of teleoperation systems, mechanical master-slave telemanipulators for handling radioactive materials, motorized unilateral telemanipulators with open-loop control, bilateral servo manipulators, transporters and vehicles and, finally, one on the art of teleoperation at the time of the introduction of computer science. The book has been translated from French. (U.K.).

  19. The implications of force reflection for teleoperation in space

    International Nuclear Information System (INIS)

    Draper, J.V.; Herndon, J.N.; Moore, W.E.

    1987-01-01

    This paper reviews previous research on teleoperator force feedback and reports results of a testing program which assessed the impact of force reflection on teleoperator task performance. Force reflection is a type of force feedback in which the forces acting on the remote portion of the teleoperator are displayed to the operator by back-driving the master controller. The testing program compared three force reflection levels: 4 to 1 (four units of force on the slave produce one unit of force at the master controller), 1 to 1, and infinity to 1 (no force reflection). Time required to complete tasks, rate of occurrence of errors, the maximum force applied to tasks components, and variability in forces applied to components during completion of representative remote handling tasks were used as dependent variables. Operators exhibited lower error rates, lower peak forces, and more consistent application of forces using force reflection than they did without it. These data support the hypothesis that force reflection provides useful information for teleoperator users. The earlier literature and the results of the experiment are discussed in terms of their implications for space-based teleoperator systems. The discussion describes the impact of force reflection on task completion performance and task strategies, as suggested by the literature. It is important to understand the trade-offs involved in using telerobotic systems with and without force reflection. Force-reflecting systems are typically more expensive (in mass, volume, and price per unit), but they reduce mean time to repair and may be safer to use, compared to systems without force reflection

  20. Telerobotics: through-the-Internet teleoperation of the ABB IRB 2000 industrial robot

    Science.gov (United States)

    Alvares, Alberto J.; Caribe de Carvalho, Guilherme; Paulinyi, Luis F. d. A.; Alfaro, Sadek C. A.

    1999-11-01

    Robotic systems can be controlled remotely through the use of telerobotics. This work presents a through-the-internet teleoperation system for remotely operating the IRB2000 industrial robot. The IRB2000 controller allows external access through a RS232 serial communication link, which is based on a 42 function proprietary communication protocol. The proposed teleoperation system uses this communication capability by connecting it to a local area network based on TCP/IP (Transport Control Protocol/Internet Protocol). The system was implemented using a Client/Server architecture, having as server a UNIX (LINUX) platform.

  1. Bilateral teleoperation for force sensorless 1-dof robots

    NARCIS (Netherlands)

    Lichiardopol, S.; Wouw, van de N.; Nijmeijer, H.; Filipe, J.; Cetto, J.A.; Ferrier, J.-L.

    2010-01-01

    It is well known that for bilateral teleoperation, force feedback information is needed. In this paper, we propose a control approach for bilateral teleoperation with uncertainties in the model of the slave robot and which does not use force sensors for haptic feedback. The controller design is

  2. Bilateral teleoperation for linear force sensorless 3D robots

    NARCIS (Netherlands)

    Lichiardopol, S.; Wouw, van de N.; Nijmeijer, H.; Andrade Cetto, J.; Ferrier, J.; Filipe, J.

    2011-01-01

    It is well known that for bilateral teleoperation, force feedback information is needed. In this paper, we propose a control approach for bilateral teleoperation with uncertainties in the model of the slave robot and which does not use force sensors for haptic feedback. The controller design is

  3. Building a Relationship between Robot Characteristics and Teleoperation User Interfaces.

    Science.gov (United States)

    Mortimer, Michael; Horan, Ben; Seyedmahmoudian, Mehdi

    2017-03-14

    The Robot Operating System (ROS) provides roboticists with a standardized and distributed framework for real-time communication between robotic systems using a microkernel environment. This paper looks at how ROS metadata, Unified Robot Description Format (URDF), Semantic Robot Description Format (SRDF), and its message description language, can be used to identify key robot characteristics to inform User Interface (UI) design for the teleoperation of heterogeneous robot teams. Logical relationships between UI components and robot characteristics are defined by a set of relationship rules created using relevant and available information including developer expertise and ROS metadata. This provides a significant opportunity to move towards a rule-driven approach for generating the designs of teleoperation UIs; in particular the reduction of the number of different UI configurations required to teleoperate each individual robot within a heterogeneous robot team. This approach is based on using an underlying rule set identifying robots that can be teleoperated using the same UI configuration due to having the same or similar robot characteristics. Aside from reducing the number of different UI configurations an operator needs to be familiar with, this approach also supports consistency in UI configurations when a teleoperator is periodically switching between different robots. To achieve this aim, a Matlab toolbox is developed providing users with the ability to define rules specifying the relationship between robot characteristics and UI components. Once rules are defined, selections that best describe the characteristics of the robot type within a particular heterogeneous robot team can be made. A main advantage of this approach is that rather than specifying discrete robots comprising the team, the user can specify characteristics of the team more generally allowing the system to deal with slight variations that may occur in the future. In fact, by using the

  4. Building a Relationship between Robot Characteristics and Teleoperation User Interfaces

    Directory of Open Access Journals (Sweden)

    Michael Mortimer

    2017-03-01

    Full Text Available The Robot Operating System (ROS provides roboticists with a standardized and distributed framework for real-time communication between robotic systems using a microkernel environment. This paper looks at how ROS metadata, Unified Robot Description Format (URDF, Semantic Robot Description Format (SRDF, and its message description language, can be used to identify key robot characteristics to inform User Interface (UI design for the teleoperation of heterogeneous robot teams. Logical relationships between UI components and robot characteristics are defined by a set of relationship rules created using relevant and available information including developer expertise and ROS metadata. This provides a significant opportunity to move towards a rule-driven approach for generating the designs of teleoperation UIs; in particular the reduction of the number of different UI configurations required to teleoperate each individual robot within a heterogeneous robot team. This approach is based on using an underlying rule set identifying robots that can be teleoperated using the same UI configuration due to having the same or similar robot characteristics. Aside from reducing the number of different UI configurations an operator needs to be familiar with, this approach also supports consistency in UI configurations when a teleoperator is periodically switching between different robots. To achieve this aim, a Matlab toolbox is developed providing users with the ability to define rules specifying the relationship between robot characteristics and UI components. Once rules are defined, selections that best describe the characteristics of the robot type within a particular heterogeneous robot team can be made. A main advantage of this approach is that rather than specifying discrete robots comprising the team, the user can specify characteristics of the team more generally allowing the system to deal with slight variations that may occur in the future. In fact, by

  5. Teleoperation of Robonaut Using Finger Tracking

    Science.gov (United States)

    Champoux, Rachel G.; Luo, Victor

    2012-01-01

    With the advent of new finger tracking systems, the idea of a more expressive and intuitive user interface is being explored and implemented. One practical application for this new kind of interface is that of teleoperating a robot. For humanoid robots, a finger tracking interface is required due to the level of complexity in a human-like hand, where a joystick isn't accurate. Moreover, for some tasks, using one's own hands allows the user to communicate their intentions more effectively than other input. The purpose of this project was to develop a natural user interface for someone to teleoperate a robot that is elsewhere. Specifically, this was designed to control Robonaut on the international space station to do tasks too dangerous and/or too trivial for human astronauts. This interface was developed by integrating and modifying 3Gear's software, which includes a library of gestures and the ability to track hands. The end result is an interface in which the user can manipulate objects in real time in the user interface. then, the information is relayed to a simulator, the stand in for Robonaut, at a slight delay.

  6. A Modular Telerobot Control System for Accident Response

    International Nuclear Information System (INIS)

    Anderson, Robert J.; Shirey, David L.

    1999-01-01

    The Accident Response Mobile Manipulator System (ARMMS) is a teleoperated emergency response vehicle that deploys two hydraulic manipulators, five cameras, and an array of sensors to the scene of an incident. It is operated from a remote base station that can be situated up to four kilometers away from the site. Recently, a modular telerobot control architecture called SMART (Sandia's Modular Architecture for Robotic and Teleoperation) was applied to ARMMS to improve the precision, safety, and operability of the manipulators on board. Using SMART, a prototype manipulator control system was developed in a couple of days, and an integrated working system was demonstrated within a couple of months. New capabilities such as camera teleoperation, autonomous tool changeout and dual manipulator control have been incorporated. The final system incorporates twenty-two separate modules and implements eight different behavior modes. This paper describes the integration of SMART into the ARMMS system

  7. A design framework for teleoperators with kinesthetic feedback

    Science.gov (United States)

    Hannaford, Blake

    1989-01-01

    The application of a hybrid two-port model to teleoperators with force and velocity sensing at the master and slave is presented. The interfaces between human operator and master, and between environment and slave, are ports through which the teleoperator is designed to exchange energy between the operator and the environment. By computing or measuring the input-output properties of this two-port network, the hybrid two-port model of an actual or simulated teleoperator system can be obtained. It is shown that the hybrid model (as opposed to other two-port forms) leads to an intuitive representation of ideal teleoperator performace and applies to several teleoperator architectures. Thus measured values of the h matrix or values computed from a simulation can be used to compare performance with th ideal. The frequency-dependent h matrix is computed from a detailed SPICE model of an actual system, and the method is applied to a proposed architecture.

  8. Bilateral teleoperation control to improve transparency in stiff environment with time delay

    Directory of Open Access Journals (Sweden)

    M. Azadegan

    2014-09-01

    Full Text Available This paper proposes a new bilateral control scheme to ensure both transparency and robust stability under unknown constant time delay in stiff environment. Furthermore, this method guaranties suitable performance and robust stability when transition occurs between soft and stiff environments. This framework is composed of an adaptive sliding mode controller and an adaptive impedance controller, where online estimation of the environment impedance is performed, and then used as the desired impedance at the master side. Numerical simulations are provided to verify the theoretical results under different conditions, such as constant and time-varying delay, obstructed environment and transitioning between soft and stiff environment. Afterwards, comparison with a recent work is addressed.

  9. Usability study of a vineyard teleoperated compost spreader.

    Science.gov (United States)

    Ferrari, Ester; Cavallo, Eugenio

    2012-01-01

    Teleoperation has been widely applied in modern industry because of a variety of advantages, such as providing replaceable surrogates for humans in dangerous or difficult working environments over long distances. In this paper, a usability evaluation study of a teleoperation system for a compost spreader robotic machine is presented. The machine has been designed for the application of compost in small and stepping parcels of hilly vineyards. Driving and working tasks can be controlled remotely by a portable piloting unit, reducing the risk for the operator in the event of machine overturning. Participants of the study were asked to perform a series of tasks and sub-tasks and to vocalize their thoughts while working with the machine. The tasks were designed to simulate typical user experience. Once all the tasks were accomplished each participant was asked to fill a questionnaire. The evaluation considered aspects such as learnability, ease of use, understandability, controllability, frustration, mental effort, distraction, clarity of presentation, perceived usefulness, temporal efficiency and machine aesthetic. Results show that usability evaluation helped detecting design deficiencies in the teleoperated compost spreader machine.

  10. Control Suite and Teleoperator Interface for Whole-Body Mobile Manipulators, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — Robots that can move about in terrestrial environments and manipulate large and small objects serve a critical role in NASA's Moon/Mars initiative. Such systems will...

  11. Scaled Bilateral Teleoperation Using Discrete-Time Sliding-Mode Controller

    NARCIS (Netherlands)

    Khan, S.; Sabanovic, A.; Nergiz, A.O.

    2009-01-01

    In this paper, the design of a discrete-time sliding-mode controller based on Lyapunov theory is presented along with a robust disturbance observer and is applied to a piezostage for high-precision motion. A linear model of a piezostage was used with nominal parameters to compensate the disturbance

  12. Mobile teleoperator research at Savannah River Laboratory

    International Nuclear Information System (INIS)

    Byrd, J.S.

    1985-01-01

    A Robotics Technology Group was organized at Savannah River Laboratory to employ modern automation and robotics for applications at the Savannah River site. Several industrial robots have been installed in plant processes. Other robotics systems are under development in the laboratories, including mobile teleoperators for general remote tasks and emergency response operations. This paper discusses present work on a low-cost wheeled mobile vehicle, a modular light duty manipulator arm, a large gantry telerobot system, and a high technology six-legged walking robot with a teleoperated arm

  13. On bilateral teleoperation of aerial robots

    NARCIS (Netherlands)

    Mersha, A.Y.; Stramigioli, Stefano; Carloni, Raffaella

    This paper presents a generic hierarchical passive teleoperation control architecture that effectively addresses the issues of workspace incompatibility and precision, as well as other classical and peculiar challenges. More specifically, the control scheme consists of a user-defined variable scale

  14. Tele-operated service robots : ROSE

    NARCIS (Netherlands)

    Osch, van M.P.W.J.; Bera, D.; Hee, van K.M.; Koks, Y.; Zeegers, H.

    2014-01-01

    Service robots are robots that are intended to perform tasks normally done by humans in an environment in which humans work as well. However, they are neither required to accomplish these tasks in the same way as humans nor need to look like a human being. A tele-operated robot is controlled from a

  15. Decontamination effects of a simulated contaminated floor surface by a teleoperated mopping system

    International Nuclear Information System (INIS)

    Kim, Ki Ho; Kwon, Hyok Jo; Park, Jang Jin; Yang, Myung Seung

    2004-01-01

    A Tele Operated Mopping System (TOMS) was developed for use in the radioactive zone of the M6 hot-cell of the Irradiated Material Examination Facility (IMEF) at the Korea Atomic Energy Research Institute (KAERI). TOMS was designed to remove contaminated dry particulates, dust, and smears existing on the floor surface of the M6 hot-cell by mopping it in a remote manner. TOMS has three subsystems - a mobile mopping slave located inside the hot-cell, and a mopping master and a control console located outside the hot-cell. The mobile mopping slave consists of a tracked mobile platform, a mopping tool, and a wet mopping cloth, which were constructed in modules to facilitate a maintenance. This paper aims at describing the mopping capability of the developed TOMS - decontamination capability. In this work the decontamination capability is defined by the ratio of the removed contaminated area when the mopping cloth was passed over. The experiment was carried out by varying the speeds of the mopping slave and the roller, while the mopping force driven by the operator was constant. The roller of the mopping tool mounted on the mopping slave was designed to collect the mopping cloth used. The experimental results showed that the speeds of the mopping slave and the roller influence the extent of the decontamination

  16. Modular telerobot control system for accident response

    Science.gov (United States)

    Anderson, Richard J. M.; Shirey, David L.

    1999-08-01

    The Accident Response Mobile Manipulator System (ARMMS) is a teleoperated emergency response vehicle that deploys two hydraulic manipulators, five cameras, and an array of sensors to the scene of an incident. It is operated from a remote base station that can be situated up to four kilometers away from the site. Recently, a modular telerobot control architecture called SMART was applied to ARMMS to improve the precision, safety, and operability of the manipulators on board. Using SMART, a prototype manipulator control system was developed in a couple of days, and an integrated working system was demonstrated within a couple of months. New capabilities such as camera-frame teleoperation, autonomous tool changeout and dual manipulator control have been incorporated. The final system incorporates twenty-two separate modules and implements seven different behavior modes. This paper describes the integration of SMART into the ARMMS system.

  17. Improving UGV teleoperation performance using novel visualization techniques and manual interfaces

    Science.gov (United States)

    Vozar, Steven; Tilbury, Dawn M.

    2012-06-01

    Unmanned ground vehicles (UGVs) are well-suited to a variety of tasks that are dangerous or repetitive for humans to perform. Despite recent advances, UGVs still suffer from reliability issues, and human operation failures have been identified as one root cause of UGV system failure. However, most literature relevant to UGV reliability does not address the effects of human errors or the user interface. Our previous work investigated the issue of user situational awareness and sense of presence in the robot workspace by implementing a Mixed Reality interface featuring a first-person video feed with an Augmented Reality overlay and a third-person Virtual Reality display. The interface was evaluated in a series of user tests in which users manually controlled a UGV with a manipulator arm using traditional input modalities including a computer mouse, keyboard and gamepad. In this study, we learned that users found it challenging to mentally map commands from the manual inputs to the robot arm behavior. Also, switching between control modalities seemed to add to the cognitive load during teleoperation tasks. A master-slave style manual controller can provide an intuitive one-to-one mapping from user input to robot pose, and has the potential to improve both operator situational awareness for teleoperation tasks and decrease mission completion time. This paper describes the design and implementation of a teleoperated UGV with a Mixed Reality visualization interface and a master-slave controller that is suitable for teleoperated mobile manipulation tasks.

  18. Robotic and nuclear safety for an automated/teleoperated glove box system

    International Nuclear Information System (INIS)

    Domning, E.E.; McMahon, T.T.; Sievers, R.H.

    1991-09-01

    Lawrence Livermore National Laboratory (LLNL) is developing a fully automated system to handle the processing of special nuclear materials (SNM). This work is performed in response to the new goals at the Department of Energy (DOE) for hazardous waste minimization and radiation dose reduction. This fully automated system, called the automated test bed (ATB), consists of an IBM gantry robot and automated processing equipment sealed within a glove box. While the ATB is a cold system, we are designing it as a prototype of the future hot system. We recognized that identification and application of safety requirements early in the design phase will lead to timely installation and approval of the hot system. This paper identifies these safety issues as well as the general safety requirements necessary for the safe operation of the ATB. 4 refs., 2 figs

  19. ARTIST: advanced radiation-tolerant information and sensor system for teleoperation

    International Nuclear Information System (INIS)

    Schmidt, D.; Pathe, V.; Ostertag, M.; Dittrich, F.; Dumbreck, A.; Sirat, G.; Katzouraki, M.

    1993-01-01

    ARTIST integrates a stereoscopic camera and a rangefinder as sensor package into a high-precision pan-and-tilt head and represents the recorded data in a clear and comprehensive way for telemanipulation and control tasks as well as for remote driving. The sensors as well as the pan-and-tilt head are radiation-tolerant so they can be used in nuclear environments. The pan-and-tilt head and work station are completely configured and developed with the emphasis on multisensor integration, real-time video processing and graphical position representation. An efficient man-machine-interface appropriate software is included. (author)

  20. Update on radiation-hardened microcomputers for robotics and teleoperated systems

    International Nuclear Information System (INIS)

    Sias, F.R. Jr.; Tulenko, J.S.

    1993-01-01

    Since many programs sponsored by the Department of Defense are being canceled, it is important to select carefully radiation-hardened microprocessors for projects that will mature (or will require continued support) several years in the future. At the present time there are seven candidate 32-bit processors that should be considered for long-range planning for high-performance radiation-hardened computer systems. For Department of Energy applications it is also important to consider efforts at standardization that require the use of the VxWorks operating system and hardware based on the VMEbus. Of the seven processors, one has been delivered and is operating and other systems are scheduled to be delivered late in 1993 or early in 1994. At the present time the Honeywell-developed RH32, the Harris RH-3000 and the Harris RHC-3000 are leading contenders for meeting DOE requirements for a radiation-hardened advanced 32-bit microprocessor. These are all either compatible with or are derivatives of the MIPS R3000 Reduced Instruction Set Computer. It is anticipated that as few as two of the seven radiation-hardened processors will be supported by the space program in the long run

  1. Multivariate stability of force-reflecting teleoperation: Structures of finite and infinite zeros

    International Nuclear Information System (INIS)

    Daniel, R.W.; McAree, P.R.

    2000-01-01

    This paper presents a stability analysis of force-position teleoperation under general end-effector contact. The analysis is based on the finite and infinite zero structure of the multivariable root-locus resulting from modulation of the environment stiffness. The starting point is an analysis of the stability of robot force control, motivated by the observation that the human-operator in a force reflection loop acts as a force servo, generating position commands in response to reflected force. Asymptotic root loci properties are used to establish passivity conditions on force feedback to give root locus interpretations of the well-known results that (1) feedback via the inverse joint Jacobian can lead to (kinematic) instability and that (2) passivity is preserved by kinematically proper force feedback through the transpose of the joint angle Jacobian. It is demonstrated that a fully constrained force-position teleoperation loop has an identical infinite zero structure to that of a slave manipulation under kinematically proper force control and that the dominant vibration modes of a force-position loop are fully described by a multivariable analogue of the single-input single-output pseudo-system investigated in a study by Daniel and McAree. Extension of the analysis to cover partial end-effector constraint provides a design tool for teleoperation control and serves to aid selection of teleoperation slate-arms. The paper concludes by giving a passivity condition for multiple-input multiple-output force-position teleoperation for stable contact against all environments

  2. Teleoperated robotic sorting system

    Science.gov (United States)

    Roos, Charles E.; Sommer, Edward J.; Parrish, Robert H.; Russell, James R.

    2000-01-01

    A method and apparatus are disclosed for classifying materials utilizing a computerized touch sensitive screen or other computerized pointing device for operator identification and electronic marking of spatial coordinates of materials to be extracted. An operator positioned at a computerized touch sensitive screen views electronic images of the mixture of materials to be sorted as they are conveyed past a sensor array which transmits sequences of images of the mixture either directly or through a computer to the touch sensitive display screen. The operator manually "touches" objects displayed on the screen to be extracted from the mixture thereby registering the spatial coordinates of the objects within the computer. The computer then tracks the registered objects as they are conveyed and directs automated devices including mechanical means such as air jets, robotic arms, or other mechanical diverters to extract the registered objects.

  3. Safe teleoperation based on flexible intraoperative planning for robot-assisted laser microsurgery.

    Science.gov (United States)

    Mattos, Leonardo S; Caldwell, Darwin G

    2012-01-01

    This paper describes a new intraoperative planning system created to improve precision and safety in teleoperated laser microsurgeries. It addresses major safety issues related to real-time control of a surgical laser during teleoperated procedures, which are related to the reliability and robustness of the telecommunication channels. Here, a safe solution is presented, consisting in a new planning system architecture that maintains the flexibility and benefits of real-time teleoperation and keeps the surgeon in control of all surgical actions. The developed system is based on our virtual scalpel system for robot-assisted laser microsurgery, and allows the intuitive use of stylus to create surgical plans directly over live video of the surgical field. In this case, surgical plans are defined as graphic objects overlaid on the live video, which can be easily modified or replaced as needed, and which are transmitted to the main surgical system controller for subsequent safe execution. In the process of improving safety, this new planning system also resulted in improved laser aiming precision and improved capability for higher quality laser procedures, both due to the new surgical plan execution module, which allows very fast and precise laser aiming control. Experimental results presented herein show that, in addition to the safety improvements, the new planning system resulted in a 48% improvement in laser aiming precision when compared to the previous virtual scalpel system.

  4. Social Inclusion of Senior Citizens by a Teleoperated Android

    DEFF Research Database (Denmark)

    Yamazaki, Ryuji; Nishio, Shuichi; Ishiguro, Hiroshi

    As populations continue to age, there is a growing need for assistive technologies that help senior citizens maintain their autonomy and enjoy their lives. We explore the potential of teleoperated androids, which are embodied telecommunication media with humanlike appearances. Our exploratory study...... focused on the social aspects of Telenoid, a teleoperated android designed as a minimalistic human, which might facilitate communica- tion between senior citizens and its operators. We con- ducted cross-cultural field trials in Japan and Denmark by introducing Telenoid into care facilities and the pri......- vate homes of seniors to observe how they responded to it. In Japan, we set up a teleoperation system in an elemen- tary school and investigated how it shaped communica- tion through the internet between the elderly in a care facility and the children who acted as teleoperators. In both countries...

  5. ANDROID BASED TELEOPERATION FOR THE FINCH ROBOT

    Directory of Open Access Journals (Sweden)

    Oliver Faust

    2016-09-01

    Full Text Available The act of creating a robot involves systems engineering and creative problem solutions. It is about using established components to create a system that works in the natural or at least in the human environment. The current project is no exception, we have used the Robot Operating System (ROS to create an android based teleoperator application for the Finch robot. A Raspberry Pi processing platform establishes the link between the android device and the Finch robot. The most creative task, during the system design, was to translate the commands from the teleoperator application into wheel movements of the Finch robot. The translation must take into account the physical setup of the robot, including unintended negative influences, such as drag. The command translation involved a nonlinear coordinate transformation. The ROS framework enabled us to focus on that nonstandard coordinate translation task by offering a high level of abstraction and the ability to create component functionalities independently.

  6. Wave impedance selection for passivity-based bilateral teleoperation

    Science.gov (United States)

    D'Amore, Nicholas John

    When a task must be executed in a remote or dangerous environment, teleoperation systems may be employed to extend the influence of the human operator. In the case of manipulation tasks, haptic feedback of the forces experienced by the remote (slave) system is often highly useful in improving an operator's ability to perform effectively. In many of these cases (especially teleoperation over the internet and ground-to-space teleoperation), substantial communication latency exists in the control loop and has the strong tendency to cause instability of the system. The first viable solution to this problem in the literature was based on a scattering/wave transformation from transmission line theory. This wave transformation requires the designer to select a wave impedance parameter appropriate to the teleoperation system. It is widely recognized that a small value of wave impedance is well suited to free motion and a large value is preferable for contact tasks. Beyond this basic observation, however, very little guidance exists in the literature regarding the selection of an appropriate value. Moreover, prior research on impedance selection generally fails to account for the fact that in any realistic contact task there will simultaneously exist contact considerations (perpendicular to the surface of contact) and quasi-free-motion considerations (parallel to the surface of contact). The primary contribution of the present work is to introduce an approximate linearized optimum for the choice of wave impedance and to apply this quasi-optimal choice to the Cartesian reality of such a contact task, in which it cannot be expected that a given joint will be either perfectly normal to or perfectly parallel to the motion constraint. The proposed scheme selects a wave impedance matrix that is appropriate to the conditions encountered by the manipulator. This choice may be implemented as a static wave impedance value or as a time-varying choice updated according to the

  7. Direct force-reflecting two-layer approach for passive bilateral teleoperation with time delays

    NARCIS (Netherlands)

    Heck, D.; Saccon, A.; Beerens, R.; Nijmeijer, H.

    2018-01-01

    We propose a two-layer control architecture for bilateral teleoperation with communication delays. The controller is structured with an (inner) performance layer and an (outer) passivity layer. In the performance layer, any traditional controller for bilateral teleoperation can be implemented. The

  8. A two-layer architecture for force-reflecting bilateral teleoperation with time delays

    NARCIS (Netherlands)

    Heck, D.J.F.; Saccon, A.; Nijmeijer, H.

    2015-01-01

    We propose a two-layer control architecture for bilateral teleoperation with communication delays. The controller is structured with an (outer) performance layer and an (inner) passivity layer. In the performance layer, any traditional controller for bilateral teleoperation can be implemented. In

  9. Modeling Human Steering Behavior During Path Following in Teleoperation of Unmanned Ground Vehicles.

    Science.gov (United States)

    Mirinejad, Hossein; Jayakumar, Paramsothy; Ersal, Tulga

    2018-04-01

    This paper presents a behavioral model representing the human steering performance in teleoperated unmanned ground vehicles (UGVs). Human steering performance in teleoperation is considerably different from the performance in regular onboard driving situations due to significant communication delays in teleoperation systems and limited information human teleoperators receive from the vehicle sensory system. Mathematical models capturing the teleoperation performance are a key to making the development and evaluation of teleoperated UGV technologies fully simulation based and thus more rapid and cost-effective. However, driver models developed for the typical onboard driving case do not readily address this need. To fill the gap, this paper adopts a cognitive model that was originally developed for a typical highway driving scenario and develops a tuning strategy that adjusts the model parameters in the absence of human data to reflect the effect of various latencies and UGV speeds on driver performance in a teleoperated path-following task. Based on data collected from a human subject test study, it is shown that the tuned model can predict both the trend of changes in driver performance for different driving conditions and the best steering performance of human subjects in all driving conditions considered. The proposed model with the tuning strategy has a satisfactory performance in predicting human steering behavior in the task of teleoperated path following of UGVs. The established model is a suited candidate to be used in place of human drivers for simulation-based studies of UGV mobility in teleoperation systems.

  10. Status of the Advanced Teleoperation Project in the French A.R.A. program

    International Nuclear Information System (INIS)

    Andre, G.; Fournier, R.

    1987-01-01

    This paper reports the research and development work carried out in the French advanced teleoperation project. The successful achievement of significant progress, in recent years, allows to considerably advance the state of the art so that it objectively constitutes the foundation of a new generation of remote systems. After briefly recalling the organization of this project, the authors outline the basic concepts related to the evolution of teleoperation with regard to the notions of flexibility, adaptivity, autonomy, transparency. The authors present the overall architecture of the computer aided teleoperation system. The following sections deal with fundamental studies which have been realized and key subsystems which have been developed. The authors emphasize on the computer control system which includes: generalized bilateral control and supervisory control. Secondly, they underline the role of sophisticated technologies: sensory system, computer graphics. . ., for generating adaptive control functions and for providing new interfaces. Thirdly, they describe the integrated experimental site and, a set of generic experiments in nuclear applications. The paper ends with future perspectives

  11. Multilateral haptics-based immersive teleoperation for improvised explosive device disposal

    Science.gov (United States)

    Erickson, David; Lacheray, Hervé; Daly, John

    2013-05-01

    Of great interest to police and military organizations is the development of effective improvised explosive device (IED) disposal (IEDD) technology to aid in activities such as mine field clearing, and bomb disposal. At the same time minimizing risk to personnel. This paper presents new results in the research and development of a next generation mobile immersive teleoperated explosive ordnance disposal system. This system incorporates elements of 3D vision, multilateral teleoperation for high transparency haptic feedback, immersive augmented reality operator control interfaces, and a realistic hardware-in-the-loop (HIL) 3D simulation environment incorporating vehicle and manipulator dynamics for both operator training and algorithm development. In the past year, new algorithms have been developed to facilitate incorporating commercial off-the-shelf (COTS) robotic hardware into the teleoperation system. In particular, a real-time numerical inverse position kinematics algorithm that can be applied to a wide range of manipulators has been implemented, an inertial measurement unit (IMU) attitude stabilization system for manipulators has been developed and experimentally validated, and a voice­operated manipulator control system has been developed and integrated into the operator control station. The integration of these components into a vehicle simulation environment with half-car vehicle dynamics has also been successfully carried out. A physical half-car plant is currently being constructed for HIL integration with the simulation environment.

  12. Advanced Tele-operation

    International Nuclear Information System (INIS)

    Decreton, M.

    1998-01-01

    Maintenance, repair, and dismantling operations in nuclear facilities have to be performed remotely when high radiation doses exclude hands-on operation, but also to minimize contamination risks and occupational doses to the operators. Computer-aided and sensor-based tele-operation enhances safety, reliability, and performance by helping the operator in difficult tasks with poor remote environmental perception. The objectives of work in this domain are to increase the scientific knowledge of the studied phenomena, to improve the interpretation of data, to improve the piloting og experimental devices during irradiation, to reveal and to understand possible unexpected phenomena occurring during irradiation. This scientific report describes the achievements for 1997 in the area of radiation tolerance for of remote-sensing, optical fibres and optical fibre sensors

  13. Pseudo-Haptic Feedback in Teleoperation.

    Science.gov (United States)

    Neupert, Carsten; Matich, Sebastian; Scherping, Nick; Kupnik, Mario; Werthschutzky, Roland; Hatzfeld, Christian

    2016-01-01

    In this paper, we develop possible realizations of pseudo-haptic feedback in teleoperation systems based on existing works for pseudo-haptic feedback in virtual reality and the intended applications. We derive four potential factors affecting the performance of haptic feedback (calculation operator, maximum displacement, offset force, and scaling factor), which are analyzed in three compliance identification experiments. First, we analyze the principle usability of pseudo-haptic feedback by comparing information transfer measures for teleoperation and direct interaction. Pseudo-haptic interaction yields well above-chance performance, while direct interaction performs almost perfectly. In order to optimize pseudo-haptic feedback, in the second study we perform a full-factorial experimental design with 36 subjects performing 6,480 trials with 36 different treatments. Information transfer ranges from 0.68 bit to 1.72 bit in a task with a theoretical maximum of 2.6 bit, with a predominant effect of the calculation operator and a minor effect of the maximum displacement. In a third study, short- and long-term learning effects are analyzed. Learning effects regarding the performance of pseudo-haptic feedback cannot be observed for single-day experiments. Tests over 10 days show a maximum increase in information transfer of 0.8 bit. The results show the feasibility of pseudo-haptic feedback for teleoperation and can be used as design basis for task-specific systems.

  14. Development and human factors analysis of an augmented reality interface for multi-robot tele-operation and control

    Science.gov (United States)

    Lee, Sam; Lucas, Nathan P.; Ellis, R. Darin; Pandya, Abhilash

    2012-06-01

    This paper presents a seamlessly controlled human multi-robot system comprised of ground and aerial robots of semiautonomous nature for source localization tasks. The system combines augmented reality interfaces capabilities with human supervisor's ability to control multiple robots. The role of this human multi-robot interface is to allow an operator to control groups of heterogeneous robots in real time in a collaborative manner. It used advanced path planning algorithms to ensure obstacles are avoided and that the operators are free for higher-level tasks. Each robot knows the environment and obstacles and can automatically generate a collision-free path to any user-selected target. It displayed sensor information from each individual robot directly on the robot in the video view. In addition, a sensor data fused AR view is displayed which helped the users pin point source information or help the operator with the goals of the mission. The paper studies a preliminary Human Factors evaluation of this system in which several interface conditions are tested for source detection tasks. Results show that the novel Augmented Reality multi-robot control (Point-and-Go and Path Planning) reduced mission completion times compared to the traditional joystick control for target detection missions. Usability tests and operator workload analysis are also investigated.

  15. Robotic design analysis based on teleoperated manipulator data collection

    International Nuclear Information System (INIS)

    Stoughton, R.S.; Martin, H.L.

    1985-01-01

    Extensive data collection was performed on a servomanipulator system (TeleOperator Systems SM-229) to determine the motion range and mechanical power usage of the manipulator under direct human control. More than 50 hours of various manipulation operations were performed while joint positions and motor currents were recorded. Reduction of these data yielded histograms of the manipulator usage patterns revealing areas where future manipulator motion ranges and drive systems could be optimized. This report develops a graphical representation of mechanical power usage that relates torque and velocity to the total usage time. Methods of interpreting this representation are discussed and generalized for use in analyzing robotic systems. The resulting technique will allow designers to reevaluate an operating system and determine how to improve that system's design

  16. Kinetic scrolling-based position mapping for haptic teleoperation of unmanned aerial vehicles

    NARCIS (Netherlands)

    Ruesch, A.; Mersha, A.Y.; Stramigioli, Stefano; Carloni, Raffaella

    In this paper, we present a haptic teleoperation control algorithm for unmanned aerial vehicles, applying a kinetic scrolling-based position mapping. The proposed algorithm overcomes the master workspace limitations and enables to teleoperate the aerial vehicle in unbounded workspace in a fast and

  17. Software Systems for Robotics An Applied Research Perspective

    Directory of Open Access Journals (Sweden)

    Greg Broten

    2006-03-01

    Full Text Available Over the past 20 years, Defence Research and Development Canada has developed numerous tele-operated unmanned ground vehicles (UGV, many founded on the ANCÆUS command and control system. This paper relates how long experience with tele-operated UGVs influenced DRDC's shift in focus from tele-operated to autonomous unmanned vehicles (UV, the forces that guided DRDC's development approach and DRDC's experience adapting a specific tool set, MIRO, to a UGV implementation.

  18. Teleoperators: Man's Machine Partners

    Energy Technology Data Exchange (ETDEWEB)

    Corliss, William R.

    1972-01-01

    This booklet is about teleoperators, a class of machines that augment man rather than replace him. Teleoperators have the ability to add to man's strength, his reach, and his ability to work in hostile environments.

  19. Robot Teleoperation and Perception Assistance with a Virtual Holographic Display

    Science.gov (United States)

    Goddard, Charles O.

    2012-01-01

    Teleoperation of robots in space from Earth has historically been dfficult. Speed of light delays make direct joystick-type control infeasible, so it is desirable to command a robot in a very high-level fashion. However, in order to provide such an interface, knowledge of what objects are in the robot's environment and how they can be interacted with is required. In addition, many tasks that would be desirable to perform are highly spatial, requiring some form of six degree of freedom input. These two issues can be combined, allowing the user to assist the robot's perception by identifying the locations of objects in the scene. The zSpace system, a virtual holographic environment, provides a virtual three-dimensional space superimposed over real space and a stylus tracking position and rotation inside of it. Using this system, a possible interface for this sort of robot control is proposed.

  20. Evaluation of teleoperated surgical robots in an enclosed undersea environment.

    Science.gov (United States)

    Doarn, Charles R; Anvari, Mehran; Low, Thomas; Broderick, Timothy J

    2009-05-01

    The ability to support surgical care in an extreme environment is a significant issue for both military medicine and space medicine. Telemanipulation systems, those that can be remotely operated from a distant site, have been used extensively by the National Aeronautics and Space Administration (NASA) for a number of years. These systems, often called telerobots, have successfully been applied to surgical interventions. A further extension is to operate these robotic systems over data communication networks where robotic slave and master are separated by a great distance. NASA utilizes the National Oceanographic and Atmospheric Administration (NOAA) Aquarius underwater habitat as an analog environment for research and technology evaluation missions, known as NASA Extreme Environment Mission Operations (NEEMO). Three NEEMO missions have provided an opportunity to evaluate teleoperated surgical robotics by astronauts and surgeons. Three robotic systems were deployed to the habitat for evaluation during NEEMO 7, 9, and 12. These systems were linked via a telecommunications link to various sites for remote manipulation. Researchers in the habitat conducted a variety of tests to evaluate performance and applicability in extreme environments. Over three different NEEMO missions, components of the Automated Endoscopic System for Optimal Positioning (AESOP), the M7 Surgical System, and the RAVEN were deployed and evaluated. A number of factors were evaluated, including communication latency and semiautonomous functions. The M7 was modified to permit a remote surgeon the ability to insert a needle into simulated tissue with ultrasound guidance, resulting in the world's first semi-autonomous supervisory-controlled medical task. The deployment and operation of teleoperated surgical systems and semi-autonomous, supervisory-controlled tasks were successfully conducted.

  1. On the Value of Estimating Human Arm Stiffness during Virtual Teleoperation with Robotic Manipulators.

    Science.gov (United States)

    Buzzi, Jacopo; Ferrigno, Giancarlo; Jansma, Joost M; De Momi, Elena

    2017-01-01

    Teleoperated robotic systems are widely spreading in multiple different fields, from hazardous environments exploration to surgery. In teleoperation, users directly manipulate a master device to achieve task execution at the slave robot side; this interaction is fundamental to guarantee both system stability and task execution performance. In this work, we propose a non-disruptive method to study the arm endpoint stiffness. We evaluate how users exploit the kinetic redundancy of the arm to achieve stability and precision during the execution of different tasks with different master devices. Four users were asked to perform two planar trajectories following virtual tasks using both a serial and a parallel link master device. Users' arm kinematics and muscular activation were acquired and combined with a user-specific musculoskeletal model to estimate the joint stiffness. Using the arm kinematic Jacobian, the arm end-point stiffness was derived. The proposed non-disruptive method is capable of estimating the arm endpoint stiffness during the execution of virtual teleoperated tasks. The obtained results are in accordance with the existing literature in human motor control and show, throughout the tested trajectory, a modulation of the arm endpoint stiffness that is affected by task characteristics and hand speed and acceleration.

  2. On the Value of Estimating Human Arm Stiffness during Virtual Teleoperation with Robotic Manipulators

    Directory of Open Access Journals (Sweden)

    Jacopo Buzzi

    2017-09-01

    Full Text Available Teleoperated robotic systems are widely spreading in multiple different fields, from hazardous environments exploration to surgery. In teleoperation, users directly manipulate a master device to achieve task execution at the slave robot side; this interaction is fundamental to guarantee both system stability and task execution performance. In this work, we propose a non-disruptive method to study the arm endpoint stiffness. We evaluate how users exploit the kinetic redundancy of the arm to achieve stability and precision during the execution of different tasks with different master devices. Four users were asked to perform two planar trajectories following virtual tasks using both a serial and a parallel link master device. Users' arm kinematics and muscular activation were acquired and combined with a user-specific musculoskeletal model to estimate the joint stiffness. Using the arm kinematic Jacobian, the arm end-point stiffness was derived. The proposed non-disruptive method is capable of estimating the arm endpoint stiffness during the execution of virtual teleoperated tasks. The obtained results are in accordance with the existing literature in human motor control and show, throughout the tested trajectory, a modulation of the arm endpoint stiffness that is affected by task characteristics and hand speed and acceleration.

  3. Advanced teleoperation in nuclear applications: consolidated fuel reprocessing program

    International Nuclear Information System (INIS)

    Hamel, W.R.; Feldman, M.J.; Martin, H.L.

    1984-01-01

    A new generation of integrated remote maintenance systems is being developed to meet the needs of future nuclear fuel reprocessing at the Oak Ridge National Laboratory. Development activities cover all aspects of an advanced teleoperated maintenance system with particular emphasis on a new force-reflecting servomanipulator concept. The new manipulator, called the advanced servomanipulator, is microprocessor controlled and is designed to achieve force-reflection performance near that of mechanical master/slave manipulators. The advanced servomanipulator uses a gear-drive transmission which permits modularization for remote maintainability (by other advanced servomanipulators) and increases reliability. Human factors analysis has been used to develop an improved man/machine interface concept based upon colographic displays and menu-driven touch screens. Initial test and evaluation of two advanced servomanipulator slave arms and several other development components have begun. 9 references, 5 figures

  4. Development and demonstration of a teleoperated modular open-quotes snakeclose quotes robot system. Final report, September 30, 1986--December 31, 1993

    International Nuclear Information System (INIS)

    Tesar, D.; Hooper, R.

    1995-01-01

    The U.S. Department of Energy has provided support to four universities and the Oak Ridge National Laboratory in order to pursue research leading to the development and deployment of advanced robotic systems capable of performing tasks that generate significant occupational radiation exposure and/or whose execution times can be reduced if performed by an automated system. The goal was to develop advanced robotic systems capable of performing surveillance, maintenance, and repair tasks in nuclear facilities and other hazardous environments. The approach to achieving the program objective was a transition from teleoperation to the capability of autonomous operation within three successive generations of robotic systems. The robotic system will always have the capability to request human assistance. The development of general purpose robots to perform skilled labor tasks in restricted environments was shown to have extensive payback in areas of energy systems (nuclear and fossil units), chemical plants, fire fighting, space operations, underwater activities, defense, and other hazardous activities. The strategy that was used to achieve the program goals in an efficient and timely manner consisted in utilizing, and advancing where required, state-of-the-art robotics technology through close interaction between the universities and the manufacturers and operators of nuclear power plants. The research effort showed that a broad range of applications for the robotic systems existed for the improved operation of nuclear reactors and in other hazardous tasks. As a consequence, each institution was able to obtain additional support from other agencies, e.g., DoD and NASA. Areas of cooperation with other nations (e.g., Japan, France, Germany) were utilized

  5. Development and demonstration of a teleoperated modular {open_quotes}snake{close_quotes} robot system. Final report, September 30, 1986--December 31, 1993

    Energy Technology Data Exchange (ETDEWEB)

    Tesar, D.; Hooper, R.

    1995-04-12

    The U.S. Department of Energy has provided support to four universities and the Oak Ridge National Laboratory in order to pursue research leading to the development and deployment of advanced robotic systems capable of performing tasks that generate significant occupational radiation exposure and/or whose execution times can be reduced if performed by an automated system. The goal was to develop advanced robotic systems capable of performing surveillance, maintenance, and repair tasks in nuclear facilities and other hazardous environments. The approach to achieving the program objective was a transition from teleoperation to the capability of autonomous operation within three successive generations of robotic systems. The robotic system will always have the capability to request human assistance. The development of general purpose robots to perform skilled labor tasks in restricted environments was shown to have extensive payback in areas of energy systems (nuclear and fossil units), chemical plants, fire fighting, space operations, underwater activities, defense, and other hazardous activities. The strategy that was used to achieve the program goals in an efficient and timely manner consisted in utilizing, and advancing where required, state-of-the-art robotics technology through close interaction between the universities and the manufacturers and operators of nuclear power plants. The research effort showed that a broad range of applications for the robotic systems existed for the improved operation of nuclear reactors and in other hazardous tasks. As a consequence, each institution was able to obtain additional support from other agencies, e.g., DoD and NASA. Areas of cooperation with other nations (e.g., Japan, France, Germany) were utilized.

  6. Assistant Personal Robot (APR: Conception and Application of a Tele-Operated Assisted Living Robot

    Directory of Open Access Journals (Sweden)

    Eduard Clotet

    2016-04-01

    Full Text Available This paper presents the technical description, mechanical design, electronic components, software implementation and possible applications of a tele-operated mobile robot designed as an assisted living tool. This robotic concept has been named Assistant Personal Robot (or APR for short and has been designed as a remotely telecontrolled robotic platform built to provide social and assistive services to elderly people and those with impaired mobility. The APR features a fast high-mobility motion system adapted for tele-operation in plain indoor areas, which incorporates a high-priority collision avoidance procedure. This paper presents the mechanical architecture, electrical fundaments and software implementation required in order to develop the main functionalities of an assistive robot. The APR uses a tablet in order to implement the basic peer-to-peer videoconference and tele-operation control combined with a tactile graphic user interface. The paper also presents the development of some applications proposed in the framework of an assisted living robot.

  7. Teleoperator comfort and psychometric stability: Criteria for limiting master-controller forces of operation and feedback during telemanipulation

    Science.gov (United States)

    Wiker, Steven F.; Hershkowitz, Elaine; Zik, John

    1989-01-01

    The following question is addressed: How much force should operators exert, or experience, when operating a telemanipulator master-controller for sustained periods without encountering significant fatigue and discomfort, and without loss of stability in psychometric perception of force. The need to minimize exertion demands to avoid fatigue is diametrically opposed by the need to present a wide range of force stimuli to enhance perception of applied or reflected forces. For 104 minutes subjects repetitiously performed a series of 15 s isometric pinch grasps; controlled at 5, 15, and 25 percent of their maximum voluntary strength. Cyclic pinch grasps were separated by rest intervals of 7.5 and 15 s. Upon completion of every 10 minute period, subjects interrupted grasping activities to gage the intensity of fatigue and discomfort in the hand and forearm using a cross-modal matching technique. A series of psychometric tests were then conducted to determine accuracy and stability in the subject's perception of force experienced. Results showed that onset of sensations of discomfort and fatigue were dependent upon the magnitude of grasp force, work/rest ratio, and progression of task. Declines in force magnitude estimation slopes, indicating a reduction in force perception sensitivity, occurred with increased grasp force when work/rest ratios were greater than 1.0. Specific recommendations for avoiding discomfort and shifts in force perception, by limiting pinch grasp force required for master-controller operation and range of force reflection or work/rest ratios, are provided.

  8. Modeling and Design of an Electro-Rheological Fluid Based Haptic System for Tele-Operation of Space Robots

    Science.gov (United States)

    Mavroidis, Constantinos; Pfeiffer, Charles; Paljic, Alex; Celestino, James; Lennon, Jamie; Bar-Cohen, Yoseph

    2000-01-01

    For many years, the robotic community sought to develop robots that can eventually operate autonomously and eliminate the need for human operators. However, there is an increasing realization that there are some tasks that human can perform significantly better but, due to associated hazards, distance, physical limitations and other causes, only robot can be employed to perform these tasks. Remotely performing these types of tasks requires operating robots as human surrogates. While current "hand master" haptic systems are able to reproduce the feeling of rigid objects, they present great difficulties in emulating the feeling of remote/virtual stiffness. In addition, they tend to be heavy, cumbersome and usually they only allow limited operator workspace. In this paper a novel haptic interface is presented to enable human-operators to "feel" and intuitively mirror the stiffness/forces at remote/virtual sites enabling control of robots as human-surrogates. This haptic interface is intended to provide human operators intuitive feeling of the stiffness and forces at remote or virtual sites in support of space robots performing dexterous manipulation tasks (such as operating a wrench or a drill). Remote applications are referred to the control of actual robots whereas virtual applications are referred to simulated operations. The developed haptic interface will be applicable to IVA operated robotic EVA tasks to enhance human performance, extend crew capability and assure crew safety. The electrically controlled stiffness is obtained using constrained ElectroRheological Fluids (ERF), which changes its viscosity under electrical stimulation. Forces applied at the robot end-effector due to a compliant environment will be reflected to the user using this ERF device where a change in the system viscosity will occur proportionally to the force to be transmitted. In this paper, we will present the results of our modeling, simulation, and initial testing of such an

  9. Robotics and tele-operation technology for applications in nuclear fields

    International Nuclear Information System (INIS)

    Kosuge, Kazuhiro; Hirata, Yasuhisa; Takeo, Koji

    2002-01-01

    In this article, we introduce available robotics and tele-operation technology for applications in Nuclear Fields. First, robotics technology for manipulation of a large object is introduced which has been experimentally applied to ITER Maintenance Robot. Then, transportation technology of a large object by multiple mobile robots is reviewed. At last, recent tele-operation technologies and a prototype tele-operation system, referred to as VISIT (Visual Interface System for Interactive Task-execution), is introduced. Several experimental results are also introduced. (author)

  10. Workload, flow, and telepresence during teleoperation

    Energy Technology Data Exchange (ETDEWEB)

    Draper, J.V. [Oak Ridge National Lab., TN (United States); Blair, L.M. [Human Machine Interfaces, Inc., Knoxville, TN (United States)

    1996-04-01

    There is much speculation about the relations among workload, flow, telepresence, and performance during teleoperation, but few data that provide evidence concerning them. This paper presents results an investigation conducted during completion of a pipe cutting task using a teleoperator at ORNL. Results show support for the hypothesis that telepresence is related to expenditure of attentional resources, and some support for the hypothesis that telepresence is related to flow. The discussion examines the results from an attentional resources perspective on teleoperation.

  11. Workload, flow, and telepresence during teleoperation

    International Nuclear Information System (INIS)

    Draper, J.V.; Blair, L.M.

    1996-01-01

    There is much speculation about the relations among workload, flow, telepresence, and performance during teleoperation, but few data that provide evidence concerning them. This paper presents results an investigation conducted during completion of a pipe cutting task using a teleoperator at ORNL. Results show support for the hypothesis that telepresence is related to expenditure of attentional resources, and some support for the hypothesis that telepresence is related to flow. The discussion examines the results from an attentional resources perspective on teleoperation

  12. Experiments in augmented teleoperation for mobile robots: I

    Science.gov (United States)

    Witus, Gary; Hunt, Shawn; Ellis, R. Darrin

    2007-04-01

    Teleoperated mobile robots are beginning to be used for a variety of tasks that require movement in close quarters in the vicinity of moving and parked vehicles, buildings and other man-made structures, and the target object for inspection or manipulation. The robots must be close enough to deploy short-range sensors and manipulators, and must be able to maneuver without potentially damaging collisions. Teleoperation is fatiguing and stressful even without the requirement for close positioning. In cooperation with the TARDEC Robotic Mobility Laboratory (TRML), we are investigating approaches to reduce workload and improve performance through augmented teleoperation. Human-robot interfaces for teleoperation commonly provide two degrees-of-freedom (DoF) motion control with visual feedback from an on-board egocentric camera and no supplemental distance or orientation cueing. This paper reports on the results of preliminary experiments to assess the effects on man-machine task performance of several options for augmented teleoperation: (a) 3 DoF motion control (rotation and omni-directional translation) versus 2 DoF control (rotation and forward/reverse motion), (b) on-board egocentric camera versus fixed-position overwatch camera versus dual egocentric-and-overwatch cameras, and (c) presence or absence of distance and orientation visual cueing. We examined three dimensions of performance: completion time, spatial accuracy, and workspace area. We investigated effects on the expected completion time and on the variance in completion time. Spatial accuracy had three components: orientation, aimpoint, and distance. We collected performance under different task conditions: (a) three position-and-orientation tolerance or accuracy objectives, and (b) four travel distances between successive inspection points. We collected data from three subjects. We analyzed the main effects and conditional interaction effects among the teleoperation options and task conditions. We were

  13. The development of advanced robotic technology. A study on the tele-existence and intelligent control of a robot system for nuclear power plants

    Energy Technology Data Exchange (ETDEWEB)

    Chung, Myung Jin; Byun, Jueng Nam; Kim, Jong Hwan; Lee, Ju Jang; Bang, Seok Won; Chu, Gil Hwan; Park, Jong Cheol; Choi, Jong Seok; Yang, Jung Min; Hong, Sun Ki [Korea Advanced Institute of Science and Technology, Taejon (Korea, Republic of)

    1995-07-01

    To increase the efficiency of human intelligence it is required to develop an intelligent monitoring and system. In this research, we develop intelligent control methods related with tele-operation, tele-existence, real-time control technique, and intelligent control technique. Those are key techniques in tele-operation, especially for the repair and maintenance of nuclear power plants. The objective of this project is to develop of the tele-existence and intelligent control system for a robot used in the nuclear power plants. (author). 20 refs.

  14. Haptics for Virtual Reality and Teleoperation

    CERN Document Server

    Mihelj, Matjaž

    2012-01-01

    This book covers all topics relevant for the design of haptic interfaces and teleoperation systems. The book provides the basic knowledge required for understanding more complex approaches and more importantly it introduces all issues that must be considered for designing efficient and safe haptic interfaces. Topics covered in this book provide insight into all relevant components of a haptic system. The reader is guided from understanding the virtual reality concept to the final goal of being able to design haptic interfaces for specific tasks such as nanomanipulation.  The introduction chapter positions the haptic interfaces within the virtual reality context. In order to design haptic interfaces that will comply with human capabilities at least basic understanding of human sensors-motor system is required. An overview of this topic is provided in the chapter related to human haptics. The book does not try to introduce the state-of-the-art haptic interface solutions because these tend to change quickly. On...

  15. Teleoperation of steerable flexible needles by combining kinesthetic and vibratory feedback.

    Science.gov (United States)

    Pacchierotti, Claudio; Abayazid, Momen; Misra, Sarthak; Prattichizzo, Domenico

    2014-01-01

    Needle insertion in soft-tissue is a minimally invasive surgical procedure that demands high accuracy. In this respect, robotic systems with autonomous control algorithms have been exploited as the main tool to achieve high accuracy and reliability. However, for reasons of safety and responsibility, autonomous robotic control is often not desirable. Therefore, it is necessary to focus also on techniques enabling clinicians to directly control the motion of the surgical tools. In this work, we address that challenge and present a novel teleoperated robotic system able to steer flexible needles. The proposed system tracks the position of the needle using an ultrasound imaging system and computes needle's ideal position and orientation to reach a given target. The master haptic interface then provides the clinician with mixed kinesthetic-vibratory navigation cues to guide the needle toward the computed ideal position and orientation. Twenty participants carried out an experiment of teleoperated needle insertion into a soft-tissue phantom, considering four different experimental conditions. Participants were provided with either mixed kinesthetic-vibratory feedback or mixed kinesthetic-visual feedback. Moreover, we considered two different ways of computing ideal position and orientation of the needle: with or without set-points. Vibratory feedback was found more effective than visual feedback in conveying navigation cues, with a mean targeting error of 0.72 mm when using set-points, and of 1.10 mm without set-points.

  16. Passive Transparency Compensation for Bilateral Teleoperators with Communication Delays

    Directory of Open Access Journals (Sweden)

    Erick J. Rodríguez-Seda

    2015-01-01

    Full Text Available One of the main challenges in the realization of time-delayed bilateral teleoperators is the stable adaptation of transparency when the remote environmental dynamics are time-varying. In this paper, we propose a bilateral control strategy that passively adjusts the transparency of the system when the slave robot transitions between two different environments. The proposed controller exploits the effect that the wave impedance (a design parameter of the passivity-based scattering transformation has on transparency without comprising closed-loop stability, regardless of time-varying communication delays. To properly adjust transparency, the control scheme smoothly switches the wave impedance parameter between a low value, ideal for free motion, and a sufficiently large value, suited for hard-contact tasks. We show that, by adopting this strategy, the transmitted impedance to the operator approximates more closely the environmental impedance value. Furthermore, we theoretically prove master-slave position coordination and force tracking under different scenarios. Simulation results illustrate the effectiveness of the proposed control strategy.

  17. Human Machine Interfaces for Teleoperators and Virtual Environments Conference

    Science.gov (United States)

    1990-01-01

    In a teleoperator system the human operator senses, moves within, and operates upon a remote or hazardous environment by means of a slave mechanism (a mechanism often referred to as a teleoperator). In a virtual environment system the interactive human machine interface is retained but the slave mechanism and its environment are replaced by a computer simulation. Video is replaced by computer graphics. The auditory and force sensations imparted to the human operator are similarly computer generated. In contrast to a teleoperator system, where the purpose is to extend the operator's sensorimotor system in a manner that facilitates exploration and manipulation of the physical environment, in a virtual environment system, the purpose is to train, inform, alter, or study the human operator to modify the state of the computer and the information environment. A major application in which the human operator is the target is that of flight simulation. Although flight simulators have been around for more than a decade, they had little impact outside aviation presumably because the application was so specialized and so expensive.

  18. Semi-autonomous unmanned ground vehicle control system

    Science.gov (United States)

    Anderson, Jonathan; Lee, Dah-Jye; Schoenberger, Robert; Wei, Zhaoyi; Archibald, James

    2006-05-01

    Unmanned Ground Vehicles (UGVs) have advantages over people in a number of different applications, ranging from sentry duty, scouting hazardous areas, convoying goods and supplies over long distances, and exploring caves and tunnels. Despite recent advances in electronics, vision, artificial intelligence, and control technologies, fully autonomous UGVs are still far from being a reality. Currently, most UGVs are fielded using tele-operation with a human in the control loop. Using tele-operations, a user controls the UGV from the relative safety and comfort of a control station and sends commands to the UGV remotely. It is difficult for the user to issue higher level commands such as patrol this corridor or move to this position while avoiding obstacles. As computer vision algorithms are implemented in hardware, the UGV can easily become partially autonomous. As Field Programmable Gate Arrays (FPGAs) become larger and more powerful, vision algorithms can run at frame rate. With the rapid development of CMOS imagers for consumer electronics, frame rate can reach as high as 200 frames per second with a small size of the region of interest. This increase in the speed of vision algorithm processing allows the UGVs to become more autonomous, as they are able to recognize and avoid obstacles in their path, track targets, or move to a recognized area. The user is able to focus on giving broad supervisory commands and goals to the UGVs, allowing the user to control multiple UGVs at once while still maintaining the convenience of working from a central base station. In this paper, we will describe a novel control system for the control of semi-autonomous UGVs. This control system combines a user interface similar to a simple tele-operation station along with a control package, including the FPGA and multiple cameras. The control package interfaces with the UGV and provides the necessary control to guide the UGV.

  19. A high capability teleoperated vehicle for hazardous applications

    International Nuclear Information System (INIS)

    Dudar, A.M.; Witherspoon, R.L.

    1995-01-01

    The Robotics Development Group at the Savannah River Site is developing a high performance teleoperated vehicle for use in radioactive and hazardous environments. The three-wheeled vehicle incorporates a highly dexterous 6 degree-of-freedom (DOF), hydraulically-powered manipulator made by Schilling Development, Inc. The teleoperator is called Little MoRT (MObile Radio-controlled Teleoperator) and is a modified version of a commercially available, battery-powered, warehouse vehicle. Little MoRT is controlled remotely by a universal robot controller either through a radio frequency link or a tethered cable. Six video cameras and a microphone provide the operator with audio-visual feedback of the vehicle and its surrounding environment. The vehicle also incorporates a hydraulic power unit consisting of a propane-driven engine for powering the Schilling manipulator. Little MoRT is capable of operating in outdoor as well as indoor environments and is well suited for decontamination and decommissioning activities such as dismantling, sorting, and surveying of radioactive waste

  20. Mechatronic systems and materials III

    CERN Document Server

    Gosiewski, Zdzislaw

    2009-01-01

    This very interesting volume is divided into 24 sections; each of which covers, in detail, one aspect of the subject-matter: I. Industrial robots; II. Microrobotics; III. Mobile robots; IV. Teleoperation, telerobotics, teleoperated semi-autonomous systems; V. Sensors and actuators in mechatronics; VI. Control of mechatronic systems; VII. Analysis of vibration and deformation; VIII. Optimization, optimal design; IX. Integrated diagnostics; X. Failure analysis; XI. Tribology in mechatronic systems; XII. Analysis of signals; XIII. Measurement techniques; XIV. Multifunctional and smart materials;

  1. Robust Stability of Scaled-Four-Channel Teleoperation with Internet Time-Varying Delays

    Directory of Open Access Journals (Sweden)

    Emma Delgado

    2016-04-01

    Full Text Available We describe the application of a generic stability framework for a teleoperation system under time-varying delay conditions, as addressed in a previous work, to a scaled-four-channel (γ-4C control scheme. Described is how varying delays are dealt with by means of dynamic encapsulation, giving rise to mu-test conditions for robust stability and offering an appealing frequency technique to deal with the stability robustness of the architecture. We discuss ideal transparency problems and we adapt classical solutions so that controllers are proper, without single or double differentiators, and thus avoid the negative effects of noise. The control scheme was fine-tuned and tested for complete stability to zero of the whole state, while seeking a practical solution to the trade-off between stability and transparency in the Internet-based teleoperation. These ideas were tested on an Internet-based application with two Omni devices at remote laboratory locations via simulations and real remote experiments that achieved robust stability, while performing well in terms of position synchronization and force transparency.

  2. Robust Stability of Scaled-Four-Channel Teleoperation with Internet Time-Varying Delays.

    Science.gov (United States)

    Delgado, Emma; Barreiro, Antonio; Falcón, Pablo; Díaz-Cacho, Miguel

    2016-04-26

    We describe the application of a generic stability framework for a teleoperation system under time-varying delay conditions, as addressed in a previous work, to a scaled-four-channel (γ-4C) control scheme. Described is how varying delays are dealt with by means of dynamic encapsulation, giving rise to mu-test conditions for robust stability and offering an appealing frequency technique to deal with the stability robustness of the architecture. We discuss ideal transparency problems and we adapt classical solutions so that controllers are proper, without single or double differentiators, and thus avoid the negative effects of noise. The control scheme was fine-tuned and tested for complete stability to zero of the whole state, while seeking a practical solution to the trade-off between stability and transparency in the Internet-based teleoperation. These ideas were tested on an Internet-based application with two Omni devices at remote laboratory locations via simulations and real remote experiments that achieved robust stability, while performing well in terms of position synchronization and force transparency.

  3. Transparent Higher Order Sliding Mode Control for Nonlinear Master-Slave Systems without Velocity Measurement

    Directory of Open Access Journals (Sweden)

    Luis G. Garcia-Valdovinos

    2015-04-01

    Full Text Available Transparency has been a major objective in bilateral teleoperation systems, even in the absence of time delay induced by the communication channel, since a high degree of transparency would allow humans to drive the remote teleoperator as if he or she were directly interacting with the remote environment, with the remote teleoperator as a physical and sensorial extension of the operator. When fast convergence of position and force tracking errors are ensured by the control system, then complete transparency is obtained, which would ideally guarantee humans to be tightly kinaesthetically coupled. In this paper a model-free Cartesian second order sliding mode (SOSM PD control scheme for nonlinear master-slave systems is presented. The proposed scheme does not rely on velocity measurements and attains very fast convergence of position trajectories, with bounded tracking of force trajectories, rendering a high degree of transparency with lesser knowledge of the system. The degree of transparency can easily be improved by tuning a feedback gain in the force loop. A unique energy storage function is introduced; such that a similar Cartesian-based controller is implemented in the master and slave sides. The resulting properties of the Cartesian control structure allows the human operator to input directly Cartesian variables, which makes clearer the kinaesthetic coupling, thus the proposed controller becomes a suitable candidate for practical implementation. The performance of the proposed scheme is evaluated in a semi-experimental setup.

  4. A Surgical Robot Teleoperation Framework for Providing Haptic Feedback Incorporating Virtual Envrioment-Based Guidance

    Directory of Open Access Journals (Sweden)

    Adnan Munawar

    2016-08-01

    Full Text Available In robot-assisted tele-operated laparoscopic surgeries, the patient side manipulators are controlled via the master manipulators that are controlled by the surgeon. The current generation of robots approved for laparoscopic surgery lack haptic feedback. In theory, haptic feedback would enhance the surgical procedures by enabling better coordination between the hand movements that are improved by the tactile sense of the operating environment. This research presents an overall control framework for a haptic feedback on existing robot platforms, and demonstrated on the daVinci Research Kit (dVRK system. The paper discusses the implementation of a flexible framework that incorporates a stiffness control with gravity compensation for the surgeons manipulator and a sensing and collision detection algorithm for calculating the interaction between the patients manipulators and the surgical area.

  5. Teleoperation environment based on virtual reality. Application of two-planes method for position measurement

    International Nuclear Information System (INIS)

    Yoshikawa, Hidekazu; Tezuka, Tetsuo; Inoue, Ryuji

    1998-01-01

    A teleoperation system based on virtual environment (VE) is an emergent technology for operating a robot in remote or hazardous environment. We have developed a VE-based teleoperation system for robot-arm manipulation in a simplified real world. The VE for manipulating the robot arm is constructed by measuring the 3D positions of the objects around the robot arm by motion-stereo method. The 3D position is estimated by using two-(calibration) planes method based on images captured by the CCD camera on the robot-arm, since the two-planes method does not need pin-hole-model assumption to the camera system. The precision of this 3D-measurement is evaluated through experiments and then derived is the theoretical model to the error in the measurement. This measurement system is applied to VE-based teleoperation experiment for Peg-in-hole practice by the robot arm. (author)

  6. Teleoperated Visual Inspection and Surveillance with Unmanned Ground and Aerial Vehicles

    Directory of Open Access Journals (Sweden)

    Viatcheslav Tretyakov

    2008-11-01

    Full Text Available This paper introduces our robotic system named UGAV (Unmanned Ground-Air Vehicle consisting of two semi-autonomous robot platforms, an Unmanned Ground Vehicle (UGV and an Unmanned Aerial Vehicles (UAV. The paper focuses on three topics of the inspection with the combined UGV and UAV: (A teleoperated control by means of cell or smart phones with a new concept of automatic configuration of the smart phone based on a RKI-XML description of the vehicles control capabilities, (B the camera and vision system with the focus to real time feature extraction e.g. for the tracking of the UAV and (C the architecture and hardware of the UAV

  7. Bilateral teleoperation of underactuated unmanned aerial vehicles: The virtual slave concept

    NARCIS (Netherlands)

    Mersha, A.Y.; Stramigioli, Stefano; Carloni, Raffaella

    In this paper, we present haptic teleoperation of underactuated unmanned aerial vehicles by providing a multidimensional generalization of the virtual slave concept. The proposed control architecture is composed of high-level and low-level controllers. The high-level controller commands the vehicle

  8. Usability of stereoscopic view in teleoperation

    Science.gov (United States)

    Boonsuk, Wutthigrai

    2015-03-01

    Recently, there are tremendous growths in the area of 3D stereoscopic visualization. The 3D stereoscopic visualization technology has been used in a growing number of consumer products such as the 3D televisions and the 3D glasses for gaming systems. This technology refers to the idea that human brain develops depth of perception by retrieving information from the two eyes. Our brain combines the left and right images on the retinas and extracts depth information. Therefore, viewing two video images taken at slightly distance apart as shown in Figure 1 can create illusion of depth [8]. Proponents of this technology argue that the stereo view of 3D visualization increases user immersion and performance as more information is gained through the 3D vision as compare to the 2D view. However, it is still uncertain if additional information gained from the 3D stereoscopic visualization can actually improve user performance in real world situations such as in the case of teleoperation.

  9. Expert operator preferences in remote manipulator control systems

    International Nuclear Information System (INIS)

    Sundstrom, E.; Draper, J.V.; Fausz, A.; Woods, H.

    1995-06-01

    This report describes a survey of expert remote manipulator operators designed to identify features of control systems related to operator efficiency and comfort. It provides information for designing the control center for the Single-Shell Tank Waste Retrieval Manipulator System (TWRMS) Test Bed, described in a separate report. Research questions concerned preferred modes of control, optimum work sessions, sources of operator fatigue, importance of control system design features, and desired changes in control rooms. Participants comprised four expert remote manipulator operators at Oak Ridge National Laboratory, who individually have from 9 to 20 years of experience using teleoperators. The operators had all used rate and position control, and all preferred bilateral (force-reflecting) position control. They reported spending an average of 2.75 h in control of a teleoperator system during a typical shift. All were accustomed to working in a crew of two and alternating control and support roles in 2-h rotations in an 8-h shift. Operators reported that fatigue in using remote manipulator systems came mainly from watching TV monitors and making repetitive motions. Three of four experienced symptoms, including headaches and sore eyes, wrists, and back. Of 17 features of control rooms rated on importance, highest ratings went to comfort and support provided by the operator chair, location of controls, location of video monitors, video image clarity, types of controls, and control modes. When asked what they wanted to change, operators said work stations designed for comfort; simpler, lighter hand-controls; separate controls for each camera; better placement of remote camera; color monitors; and control room layouts that support crew interaction. Results of this small survey reinforced the importance of ergonomic factors in remote manipulation

  10. Social Acceptance of a Teleoperated Android

    DEFF Research Database (Denmark)

    Ryuji, Yamazaki; Nishio, Shuichi; Ishiguro, Hiroshi

    2012-01-01

    We explored the potential of teleoperated android robots, which are embodied telecommunication media with humanlike appearances, and how they affect people in the real world when they are employed to express a telepresence and a sense of ‘being there’. In Denmark, our exploratory study focused on...

  11. Reasons for singularity in robot teleoperation

    DEFF Research Database (Denmark)

    Marhenke, Ilka; Fischer, Kerstin; Savarimuthu, Thiusius Rajeeth

    2014-01-01

    In this paper, the causes for singularity of a robot arm in teleoperation for robot learning from demonstration are analyzed. Singularity is the alignment of robot joints, which prevents the configuration of the inverse kinematics. Inspired by users' own hypotheses, we investigated speed and dela...

  12. Teleoperation and beyond for assistive humanoid robots

    NARCIS (Netherlands)

    Goodrich, M.A.; Crandall, J.W.; Barakova, E.I.

    2013-01-01

    In this review, we explore how teleoperation could potentially be applied to the management of humanoid robots, with an emphasis on humanoid robots that are used in assistive roles, including clinical therapies. Since there are very few examples of the remote operation of a full humanoid, the review

  13. Developments of STR project in the scope of teleoperation handling robotic for the operation in Spanish nuclear facilities

    International Nuclear Information System (INIS)

    Bielza, M.; Gomez Santamaria, J.; Izquierdo, J.A.; Martinez, S.; Linares, F.; Avello, A.; Gago, M.J.

    1998-01-01

    The main objective of the Teleoperated Robotic Systems project (SRT) is the development of teleoperated robotic systems for use in the inspection, surveillance and maintenance operations in nuclear and radioactive installations. These systems make possible the reduction of the individual and collective doses of the workers that undertake these operations, as well as an increase of plant availability as it is possible to carry out specific tasks of inspection and surveillance in high radiation dose areas without having to reduce the power of the installation. This project started in 1995, deciding to priorize the inspection equipment in a first phase. When this work were advanced, the development of the manipulation activities was carried out to being consider the nuclear installations needs. As a result of this work, the manipulation requirements were elaborated in order to prepare the beginning technical specifications to design the equipment s. These developments are based on a fixed manipulator which is located closed to the equipment that we want to repair, and an arm manipulator which moves by caterpillars, it is easier to control than others; and the navigation system which allows the robot self-locating in the complex area. In this paper the conclusions about the manipulation requirements are described, as well as the state of the manipulation prototype. (Author)

  14. Simulation analysis of control strategies for a tank waste retrieval manipulator system

    International Nuclear Information System (INIS)

    Schryver, J.C.; Draper, J.V.

    1995-01-01

    A network simulation model was developed for the Tank Waste Retrieval Manipulator System, incorporating two distinct levels of control: teleoperation and supervisory control. The model included six error modes, an attentional resource model, and a battery of timing variables. A survey questionnaire administered to subject matter experts provided data for estimating timing distributions for level of control-critical tasks. Simulation studies were performed to evaluate system behavior as a function of control level and error modes. The results provide important insights for development of waste retrieval manipulators

  15. Using virtual objects to aid underground storage tank teleoperation

    International Nuclear Information System (INIS)

    Anderson, R.J.; Davies, B.

    1994-01-01

    In this paper we describe an algorithm by which obstructions and surface features in an underground storage tank can be modeled and used to generate virtual barrier function for a real-time telerobotic system, which provides an aid to the operator for both real-time obstacle avoidance and for surface tracking. The algorithm requires that the slave's tool and every object in the waste storage tank be decomposed into convex polyhedral primitives, with the waste surface modeled by triangular prisms. Intrusion distance and extraction vectors are then derived at every time step by applying Gilbert's polyhedra distance algorithm, which has been adapted for the task. This information is then used to determine the compression and location of nonlinear virtual spring-dampers whose total force is summed and applied to the manipulator/teleoperator system. Experimental results using a PUMA 560 and a simulated waste surface validate the approach, showing that it is possible to compute the algorithm and generate smooth, realistic pseudo forces for the teleoperator system using standard VME bus hardware

  16. Analysis of human-in-the-loop tele-operated maintenance inspection tasks using VR

    International Nuclear Information System (INIS)

    Boessenkool, H.; Abbink, D.A.; Heemskerk, C.J.M.; Steinbuch, M.; Baar, M.R. de; Wildenbeest, J.G.W.; Ronden, D.; Koning, J.F.

    2013-01-01

    Highlights: ► Execution of tele-operated inspection tasks for ITER maintenance was analyzed. ► Human factors experiments using Virtual Reality showed to be a valuable approach. ► A large variation in time performance and number of collisions was found. ► Results indicate significant room for improvement for teleoperated free space tasks. ► A promising solution is haptic shared control: assist operator with guiding forces. -- Abstract: One of the challenges in future fusion plants such as ITER is the remote maintenance of the plant. Foreseen human-in-the-loop tele-operation is characterized by limited visual and haptic feedback from the environment, which results in degraded task performance and increased operator workload. For improved tele-operated task performance it is required to get insight in the expected tasks and problems during maintenance at ITER. By means of an exploratory human factor experiment, this paper analyses problems and bottlenecks during the execution of foreseen tele-operated maintenance at ITER, identifying most promising areas of improvement. The focus of this paper is on free space (sub)tasks where contact with the environment needs to be avoided. A group of 5 subjects was asked to carry-out an ITER related free space task (visual inspection), using a six degree of freedom master device connected to a simulated hot cell environment. The results show large variation in time performance between subjects and an increasing number of collisions for more difficult tasks, indicating room for improvement for free space (sub)tasks. The results will be used in future research on the haptic guidance strategies in the ITER Remote Handling framework

  17. Analysis of human-in-the-loop tele-operated maintenance inspection tasks using VR

    Energy Technology Data Exchange (ETDEWEB)

    Boessenkool, H., E-mail: h.boessenkool@differ.nl [FOM Institute DIFFER (Dutch Institute for Fundamental Energy Research), Association EURATOM-FOM, Partner in the Trilateral Euregio Cluster, PO Box 1207, 3430 BE Nieuwegein (Netherlands); Eindhoven University of Technology, Department of Mechanical Engineering, Dynamics and Control Group, PO Box 513, 5600 MB Eindhoven (Netherlands); Abbink, D.A. [Delft University of Technology, Faculty of 3mE, BioMechanical Engineering Department, Mekelweg 2, 2628 CD Delft (Netherlands); Heemskerk, C.J.M. [Heemskerk Innovative Technology B.V., Jonckerweg 12, 2201 DZ Noordwijk (Netherlands); Steinbuch, M. [Eindhoven University of Technology, Department of Mechanical Engineering, Dynamics and Control Group, PO Box 513, 5600 MB Eindhoven (Netherlands); Baar, M.R. de [FOM Institute DIFFER (Dutch Institute for Fundamental Energy Research), Association EURATOM-FOM, Partner in the Trilateral Euregio Cluster, PO Box 1207, 3430 BE Nieuwegein (Netherlands); Eindhoven University of Technology, Department of Mechanical Engineering, Dynamics and Control Group, PO Box 513, 5600 MB Eindhoven (Netherlands); Wildenbeest, J.G.W. [Delft University of Technology, Faculty of 3mE, BioMechanical Engineering Department, Mekelweg 2, 2628 CD Delft (Netherlands); Heemskerk Innovative Technology B.V., Jonckerweg 12, 2201 DZ Noordwijk (Netherlands); Ronden, D. [FOM Institute DIFFER (Dutch Institute for Fundamental Energy Research), Association EURATOM-FOM, Partner in the Trilateral Euregio Cluster, PO Box 1207, 3430 BE Nieuwegein (Netherlands); Koning, J.F. [Heemskerk Innovative Technology B.V., Jonckerweg 12, 2201 DZ Noordwijk (Netherlands)

    2013-10-15

    Highlights: ► Execution of tele-operated inspection tasks for ITER maintenance was analyzed. ► Human factors experiments using Virtual Reality showed to be a valuable approach. ► A large variation in time performance and number of collisions was found. ► Results indicate significant room for improvement for teleoperated free space tasks. ► A promising solution is haptic shared control: assist operator with guiding forces. -- Abstract: One of the challenges in future fusion plants such as ITER is the remote maintenance of the plant. Foreseen human-in-the-loop tele-operation is characterized by limited visual and haptic feedback from the environment, which results in degraded task performance and increased operator workload. For improved tele-operated task performance it is required to get insight in the expected tasks and problems during maintenance at ITER. By means of an exploratory human factor experiment, this paper analyses problems and bottlenecks during the execution of foreseen tele-operated maintenance at ITER, identifying most promising areas of improvement. The focus of this paper is on free space (sub)tasks where contact with the environment needs to be avoided. A group of 5 subjects was asked to carry-out an ITER related free space task (visual inspection), using a six degree of freedom master device connected to a simulated hot cell environment. The results show large variation in time performance between subjects and an increasing number of collisions for more difficult tasks, indicating room for improvement for free space (sub)tasks. The results will be used in future research on the haptic guidance strategies in the ITER Remote Handling framework.

  18. A novel optimal coordinated control strategy for the updated robot system for single port surgery.

    Science.gov (United States)

    Bai, Weibang; Cao, Qixin; Leng, Chuntao; Cao, Yang; Fujie, Masakatsu G; Pan, Tiewen

    2017-09-01

    Research into robotic systems for single port surgery (SPS) has become widespread around the world in recent years. A new robot arm system for SPS was developed, but its positioning platform and other hardware components were not efficient. Special features of the developed surgical robot system make good teleoperation with safety and efficiency difficult. A robot arm is combined and used as new positioning platform, and the remote center motion is realized by a new method using active motion control. A new mapping strategy based on kinematics computation and a novel optimal coordinated control strategy based on real-time approaching to a defined anthropopathic criterion configuration that is referred to the customary ease state of human arms and especially the configuration of boxers' habitual preparation posture are developed. The hardware components, control architecture, control system, and mapping strategy of the robotic system has been updated. A novel optimal coordinated control strategy is proposed and tested. The new robot system can be more dexterous, intelligent, convenient and safer for preoperative positioning and intraoperative adjustment. The mapping strategy can achieve good following and representation for the slave manipulator arms. And the proposed novel control strategy can enable them to complete tasks with higher maneuverability, lower possibility of self-interference and singularity free while teleoperating. Copyright © 2017 John Wiley & Sons, Ltd.

  19. Space teleoperation research. American Nuclear Society Executive conference: Remote operations and robotics in the nuclear industry; remote maintenance in other hostile environments

    Science.gov (United States)

    Meintel, A. J., Jr.; Will, R. W.

    1985-01-01

    This presentation consists of four sections. The first section is a brief introduction to the NASA Space Program. The second portion summarized the results of a congressionally mandated study of automation and robotics for space station. The third portion presents a number of concepts for space teleoperator systems. The remainder of the presentation describes Langley Research Center's teleoperator/robotic research to support remote space operations.

  20. Research of a New 6-Dof Force Feedback Hand Controller System

    Directory of Open Access Journals (Sweden)

    Xin Gao

    2014-01-01

    Full Text Available The field of teleoperation with force telepresence has expanded its scope to include manipulation at different scales and in virtual worlds, and the key component of which is force feedback hand controller. This paper presents a novel force feedback hand controller system, including a 3-dof translational and 3-dof rotational hand controllers, respectively, to implement position and posture teleoperation of the robot end effector. The 3-dof translational hand controller adopts innovative three-axes decoupling structure based on the linear motor; the 3-dof rotational hand controller adopts serial mechanism based on three-axes intersecting at one point, improving its overall stiffness. Based on the kinematics, statics, and dynamics analyses for two platforms separately, the system applies big closed-loop force control method based on the zero force/torque, improving the feedback force/torque accuracy effectively. Experimental results show that self-developed 6-dof force feedback hand controller has good mechanical properties. The translational hand controller has the following advantages: simple kinematics solver, fast dynamic response, and better than 0.05 mm accuracy of three-axis end positioning, while the advantages of the rotational hand controller are wide turning space, larger than 1 Nm feedback, greater than 180 degrees of operating space of three axes, respectively, and high operation precision.

  1. The development of graphic simulation technology for tele-operated robot

    International Nuclear Information System (INIS)

    Kim, Chang Hoi; Kim, Seung Ho; Kim, Ki Ho; Jung, Seung Ho; Hwang, Suk Yeoung; Kim, Byung Soo; Seo, Yong Chil; Lee, Young Kwang

    1998-02-01

    In hostile environments like a nuclear power plant, human access is limited to the strict minimum due to the high-level of radiation. The design of tele-robotic system requires careful preparation because of the nature of its safety. Also, the human operator should have a capability of supervising the robot system and responding promptly to the unexpected events. In this study, the graphic simulation technology has been developed to construct tele-robotic system which can effectively perform the specified tasks in nuclear facilities. The developed graphic simulator utilizes the Indigo 2 workstation of Silicon Graphics as a main computer and its software is written in the OpenGL graphic library in X windows environments. The developed simulator, interfaced with the control system of the real robot through the ethernet, acts as a supervisory controller. Since clear and concise visual information on real robot posture and task environments can be processed in real time, the efficiency of tele-operation can be remarkably enhanced with this simulator. This simulator using advanced 3 dimensional graphics has many advantages of modeling complicated shapes of robot and constructing the virtual work environments similar to the real ones. With the use of this developed simulator, the operator can evaluate the performance of the tele-robot before it is put into real operation. This system can prevents the possible disaster of the robot resulting from the collision with its work environments. (author). 9 refs., 23 tabs., 13 figs

  2. Tele-Operated Echography and Remote Guidance for Performing Tele-Echography on Geographically Isolated Patients

    Directory of Open Access Journals (Sweden)

    Philippe Arbeille

    2016-06-01

    Full Text Available Objective: To evaluate the performance of three tele-echography systems for routine use in isolated medical centers. Methods: Three systems were used for deep (abdomen, pelvis, fetal and superficial (muscle, thyroid, carotid artery examinations: (a a robotic arm (RA holding an echographic probe; (b an echograph with a motorized probe (MP; and (c remote guidance (RG where the patient site operator performed the examination assisted by an expert via videoconference. All systems were tested in the same medical center located 60 km away from the university hospital. Results: A total of 340 remote echography examinations were performed (41% RA and MP, 59% RG. MP and RA allowed full control of the probe orientation by the expert, and provided diagnoses in 97% of cases. The use of RG was sufficient for superficial vessel examinations and provided diagnoses in 98% of cases but was not suited for deep or superficial organs. Assessment of superficial organs was best accomplished using the MP. Discussion: Both teleoperated systems provided control of the probe orientation by the expert necessary for obtaining appropriate views of deep organs but the MP was much more ergonomic and easier to use than the RA. RG was appropriate for superficial vessels while the MP was better for superficial volumic organs.

  3. Intelligent control system for nuclear power plant mobile robot

    International Nuclear Information System (INIS)

    Koenig, A.; Lecoeur-Taibi, I.; Crochon, E.; Vacherand, F.

    1991-01-01

    In order to fully optimize the efficiency of the perception and navigation components available on a mobile robot, the upper level of a mobile robot control requires intelligence support to unload the work of the teleoperator. This knowledge-based system has to manage a priori data such as the map of the workspace, the mission, the characteristics of sensors and robot, but also, the current environment state and the running mission. It has to issue a plan to drive the sensors to focus on relevant objects or to scan the environment and to select the best algorithms depending on the current situation. The environment workspace is a nuclear power plant building. The teleoperated robot is a mobile wheeled or legged vehicle that moves inside the different floors of the building. There are three types of mission: radio-activity survey, inspection and intervention. To perform these goals the robot must avoid obstacles, pass through doors, possibly climb stairs and recognize valves and pipes. The perception control system has to provide the operator with a synthetic view of the surroundings. It manages background tasks such as obstacle detection and free space map building, and specific tasks such as beacon recognition for odometry relocalization and valve detection for maintenance. To do this, the system solves perception resources conflicts, taking into account the current states of the sensors and the current conditions such as lightness or darkness, cluttered scenes, sensor failure. A perception plan is issued from the mission goals, planned path, relocalization requirements and available perception resources. Basically, the knowledge-based system is implemented on a blackboard architecture which includes two parts: a top-down planning part and a bottom-up perception part. The results of the perception are continuously sent to the operator who can trigger new perception actions. (author)

  4. A tele-operated mobile ultrasound scanner using a light-weight robot.

    Science.gov (United States)

    Delgorge, Cécile; Courrèges, Fabien; Al Bassit, Lama; Novales, Cyril; Rosenberger, Christophe; Smith-Guerin, Natalie; Brù, Concepció; Gilabert, Rosa; Vannoni, Maurizio; Poisson, Gérard; Vieyres, Pierre

    2005-03-01

    This paper presents a new tele-operated robotic chain for real-time ultrasound image acquisition and medical diagnosis. This system has been developed in the frame of the Mobile Tele-Echography Using an Ultralight Robot European Project. A light-weight six degrees-of-freedom serial robot, with a remote center of motion, has been specially designed for this application. It holds and moves a real probe on a distant patient according to the expert gesture and permits an image acquisition using a standard ultrasound device. The combination of mechanical structure choice for the robot and dedicated control law, particularly nearby the singular configuration allows a good path following and a robotized gesture accuracy. The choice of compression techniques for image transmission enables a compromise between flow and quality. These combined approaches, for robotics and image processing, enable the medical specialist to better control the remote ultrasound probe holder system and to receive stable and good quality ultrasound images to make a diagnosis via any type of communication link from terrestrial to satellite. Clinical tests have been performed since April 2003. They used both satellite or Integrated Services Digital Network lines with a theoretical bandwidth of 384 Kb/s. They showed the tele-echography system helped to identify 66% of lesions and 83% of symptomatic pathologies.

  5. Architectural study of the design and operation of advanced force feedback manual controllers

    Science.gov (United States)

    Tesar, Delbert; Kim, Whee-Kuk

    1990-01-01

    A teleoperator system consists of a manual controller, control hardware/software, and a remote manipulator. It was employed in either hazardous or unstructured, and/or remote environments. In teleoperation, the main-in-the-loop is the central concept that brings human intelligence to the teleoperator system. When teleoperation involves contact with an uncertain environment, providing the feeling of telepresence to the human operator is one of desired characteristics of the teleoperator system. Unfortunately, most available manual controllers in bilateral or force-reflecting teleoperator systems can be characterized by their bulky size, high costs, or lack of smoothness and transparency, and elementary architectures. To investigate other alternatives, a force-reflecting, 3 degree of freedom (dof) spherical manual controller is designed, analyzed, and implemented as a test bed demonstration in this research effort. To achieve an improved level of design to meet criteria such as compactness, portability, and a somewhat enhanced force-reflecting capability, the demonstration manual controller employs high gear-ratio reducers. To reduce the effects of the inertia and friction on the system, various force control strategies are applied and their performance investigated. The spherical manual controller uses a parallel geometry to minimize inertial and gravitational effects on its primary task of transparent information transfer. As an alternative to the spherical 3-dof manual controller, a new conceptual (or parallel) spherical 3-dof module is introduced with a full kinematic analysis. Also, the resulting kinematic properties are compared to those of other typical spherical 3-dof systems. The conceptual design of a parallel 6-dof manual controller and its kinematic analysis is presented. This 6-dof manual controller is similar to the Stewart Platform with the actuators located on the base to minimize the dynamic effects. Finally, a combination of the new 3-dof and 6-dof

  6. Operator-in-the-loop simulation of a redundant manipulator under teleoperation

    International Nuclear Information System (INIS)

    Yae, K.H.; Lin, T.C.; Chern, S.T.

    1993-01-01

    For an interactive simulation of 7 degree-of-freedom redundant manipulator under teleoperation, this paper describes an iterative form of resolved-motion rate control in which the constraint Jacobian is constructed on-line in real time and used in the pseudoinverse method as the manipulator is teleoperated. The manipulator's tasks may involve trajectory following in free space and frequent contact with the environment through pick-and-put operation. The operator's command is interpreted as a series of increments in Cartesian space, and then the constraint Jacobian is developed between two successive increments by viewing the predecessor as the initial configuration and the successor as the target configuration. The pseudoinverse of the constraint Jacobian then generates necessary changes in joint variables and subsequently joint torque. The Jacobian constructed in this way enables us to treat both free motion and environmental contact in the same way. The simulator is built on a two-processor IRIS workstation, with one processor for graphics and the other for dynamics and control analysis. This simulator has a potential for training the teleoperator, developing operational scenarios through visualization of the simulation, and testing the design of operator-machine interface

  7. Human Machine Interfaces for Teleoperators and Virtual Environments

    Science.gov (United States)

    Durlach, Nathaniel I. (Compiler); Sheridan, Thomas B. (Compiler); Ellis, Stephen R. (Compiler)

    1991-01-01

    In Mar. 1990, a meeting organized around the general theme of teleoperation research into virtual environment display technology was conducted. This is a collection of conference-related fragments that will give a glimpse of the potential of the following fields and how they interplay: sensorimotor performance; human-machine interfaces; teleoperation; virtual environments; performance measurement and evaluation methods; and design principles and predictive models.

  8. A teleoperation training simulator with visual and kinesthetic force virtual reality

    Science.gov (United States)

    Kim, Won S.; Schenker, Paul

    1992-01-01

    A force-reflecting teleoperation training simulator with a high-fidelity real-time graphics display has been developed for operator training. A novel feature of this simulator is that it enables the operator to feel contact forces and torques through a force-reflecting controller during the execution of the simulated peg-in-hole task, providing the operator with the feel of visual and kinesthetic force virtual reality. A peg-in-hole task is used in our simulated teleoperation trainer as a generic teleoperation task. A quasi-static analysis of a two-dimensional peg-in-hole task model has been extended to a three-dimensional model analysis to compute contact forces and torques for a virtual realization of kinesthetic force feedback. The simulator allows the user to specify force reflection gains and stiffness (compliance) values of the manipulator hand for both the three translational and the three rotational axes in Cartesian space. Three viewing modes are provided for graphics display: single view, two split views, and stereoscopic view.

  9. New tools for C.A.D. of input devices for tele-operation with force feedback

    International Nuclear Information System (INIS)

    Gosselin, F.

    2000-01-01

    The performances of a tele-operation system are related to the master arm's ability to emulate the behavior of the remote environment. Ideally, it allows the operator to control the slave arm in a natural way as if that were an extension of its own body. The criteria to be checked for that are known but contradictory. It is thus necessary to make trade-offs on which there is not consensus. Existing input devices are therefore very varied thus more or less adapted to the tasks considered, which is in general checked a posteriori. In this document, we propose an original approach allowing to dimension the master arm a priori according to the use which one wishes to make. For that, we developed two tools: - the first one makes it possible to establish his specifications by taking account of the transmission of information between the operator and the slave arm. By exploiting their respective limitations, one is assured that the master arm will not limit the performances of the system, - the second one allows to design it (kinematics, size, motorization... ) according to the preceding specifications. For that, we use well-known theoretical tools which however are approached here as design tools. This leads to the definition of new concepts which do not appear in the literature. This approach is used to establish the specifications of a master arm for nuclear and offshore tele-operation then to design two input devices answering these specifications. The first has 3 degrees of freedom with force feedback. Its performances are higher than those of the best existing input devices. The second is a mock-up of a 6 degrees of freedom master arm. It uses a new parallel structure that is redundant in actuation and whose performances are remarkable. (author) [fr

  10. NONLINEAR FORCE PROFILE USED TO INCREASE THE PERFORMANCE OF A HAPTIC USER INTERFACE FOR TELEOPERATING A ROBOTIC HAND

    Energy Technology Data Exchange (ETDEWEB)

    Anthony L. Crawford

    2012-07-01

    MODIFIED PAPER TITLE AND ABSTRACT DUE TO SLIGHTLY MODIFIED SCOPE: TITLE: Nonlinear Force Profile Used to Increase the Performance of a Haptic User Interface for Teleoperating a Robotic Hand Natural movements and force feedback are important elements in using teleoperated equipment if complex and speedy manipulation tasks are to be accomplished in hazardous environments, such as hot cells, glove boxes, decommissioning, explosives disarmament, and space. The research associated with this paper hypothesizes that a user interface and complementary radiation compatible robotic hand that integrates the human hand’s anthropometric properties, speed capability, nonlinear strength profile, reduction of active degrees of freedom during the transition from manipulation to grasping, and just noticeable difference force sensation characteristics will enhance a user’s teleoperation performance. The main contribution of this research is in that a system that concisely integrates all these factors has yet to be developed and furthermore has yet to be applied to a hazardous environment as those referenced above. In fact, the most prominent slave manipulator teleoperation technology in use today is based on a design patented in 1945 (Patent 2632574) [1]. The robotic hand/user interface systems of similar function as the one being developed in this research limit their design input requirements in the best case to only complementing the hand’s anthropometric properties, speed capability, and linearly scaled force application relationship (e.g. robotic force is a constant, 4 times that of the user). In this paper a nonlinear relationship between the force experienced between the user interface and the robotic hand was devised based on property differences of manipulation and grasping activities as they pertain to the human hand. The results show that such a relationship when subjected to a manipulation task and grasping task produces increased performance compared to the

  11. Automatic control systems engineering

    International Nuclear Information System (INIS)

    Shin, Yun Gi

    2004-01-01

    This book gives descriptions of automatic control for electrical electronics, which indicates history of automatic control, Laplace transform, block diagram and signal flow diagram, electrometer, linearization of system, space of situation, state space analysis of electric system, sensor, hydro controlling system, stability, time response of linear dynamic system, conception of root locus, procedure to draw root locus, frequency response, and design of control system.

  12. Precision digital control systems

    Science.gov (United States)

    Vyskub, V. G.; Rozov, B. S.; Savelev, V. I.

    This book is concerned with the characteristics of digital control systems of great accuracy. A classification of such systems is considered along with aspects of stabilization, programmable control applications, digital tracking systems and servomechanisms, and precision systems for the control of a scanning laser beam. Other topics explored are related to systems of proportional control, linear devices and methods for increasing precision, approaches for further decreasing the response time in the case of high-speed operation, possibilities for the implementation of a logical control law, and methods for the study of precision digital control systems. A description is presented of precision automatic control systems which make use of electronic computers, taking into account the existing possibilities for an employment of computers in automatic control systems, approaches and studies required for including a computer in such control systems, and an analysis of the structure of automatic control systems with computers. Attention is also given to functional blocks in the considered systems.

  13. BSF control system

    International Nuclear Information System (INIS)

    Irie, Y.; Ishii, K.; Ninomiya, S.; Sasaki, H.; Sakai, I.

    1982-08-01

    The booster synchrotron utilization facility (BSF) is a facility which utilizes the four fifths of available beam pulses from the KEK booster synchrotron. The BSF control system includes the beam line control, interactions with the PS central control room and the experimental facilities, and the access control system. A brief description of the various components in the control system is given. (author)

  14. Immersive vision assisted remote teleoperation using head mounted displays

    International Nuclear Information System (INIS)

    Vakkapatla, Veerendrababu; Singh, Ashutosh Pratap; Rakesh, V.; Rajagopalan, C.; Murugan, S.; Sai Baba, M.

    2016-01-01

    Handling and inspection of irradiated material is inevitable in nuclear industry. Hot cells are shielded radiation containment chambers equipped with master slave manipulators that facilitates remote handling. The existing methods using viewing windows and cameras for viewing the contents of hot cell to manipulate the radioactive elements have problems such as optical distortion, limited distance teleoperation, limited field of view that lead to inefficient operation. This paper presents a method of achieving immersive teleoperation to operate the master slave manipulator in hot cells by exploiting the advanced tracking and display capabilities of head mounted display devices. (author)

  15. Control system design method

    Science.gov (United States)

    Wilson, David G [Tijeras, NM; Robinett, III, Rush D.

    2012-02-21

    A control system design method and concomitant control system comprising representing a physical apparatus to be controlled as a Hamiltonian system, determining elements of the Hamiltonian system representation which are power generators, power dissipators, and power storage devices, analyzing stability and performance of the Hamiltonian system based on the results of the determining step and determining necessary and sufficient conditions for stability of the Hamiltonian system, creating a stable control system based on the results of the analyzing step, and employing the resulting control system to control the physical apparatus.

  16. FFTF control system experience

    International Nuclear Information System (INIS)

    Warrick, R.P.

    1981-01-01

    The FFTF control systems provide control equipment for safe and efficient operation of the plant. For convenience, these systems will be divided into three parts for discussions: (1) Plant Protection System (PPS); (2) Plant Control System (PCS); and (3) General Observations. Performance of each of these systems is discussed

  17. Wisdom Appliance Control System

    Science.gov (United States)

    Hendrick; Jheng, Jyun-Teng; Tsai, Chen-Chai; Liou, Jia-Wei; Wang, Zhi-Hao; Jong, Gwo-Jia

    2017-07-01

    Intelligent appliances wisdom involves security, home care, convenient and energy saving, but the home automation system is still one of the core unit, and also using micro-processing electronics technology to centralized and control the home electrical products and systems, such as: lighting, television, fan, air conditioning, stereo, it composed of front-controller systems and back-controller panels, user using front-controller to control command, and then through the back-controller to powered the device.

  18. Personal exposure control system

    International Nuclear Information System (INIS)

    Tanabe, Ken-ichi; Akashi, Michio

    1994-01-01

    Nuclear power stations are under strict radiation control. Exposure control for nuclear workers is the most important operation, and so carefully thought out measures are taken. This paper introduces Fuji Electric's personal exposure control system that meets strict exposure control and rationalizes control operations. The system has a merit that it can provide required information in an optimum form using the interconnection of a super minicomputer and exposure control facilities and realizes sophisticated exposure control operations. (author)

  19. Recent advances in remote coal mining machine sensing, guidance, and teleoperation

    Energy Technology Data Exchange (ETDEWEB)

    Ralston, J C; Hainsworth, D W; Reid, D C; Anderson, D L; McPhee, R J [CSIRO Exploration & Minerals, Kenmore, Qld. (Australia)

    2001-10-01

    Some recent applications of sensing, guidance and telerobotic technology in the coal mining industry are presented. Of special interest is the development of semi or fully autonomous systems to provide remote guidance and communications for coal mining equipment. The use of radar and inertial based sensors are considered in an attempt to solve the horizontal and lateral guidance problems associated with mining equipment automation. Also described is a novel teleoperated robot vehicle with unique communications capabilities, called the Numbat, which is used in underground mine safety and reconnaissance missions.

  20. The remote control system

    International Nuclear Information System (INIS)

    Jansweijer, P.P.M.

    1988-01-01

    The remote-control system is applied in order to control various signals in the car of the spectrometer at distance. The construction (hardware and software) as well as the operation of the system is described. (author). 20 figs

  1. Control and automation systems

    International Nuclear Information System (INIS)

    Schmidt, R.; Zillich, H.

    1986-01-01

    A survey is given of the development of control and automation systems for energy uses. General remarks about control and automation schemes are followed by a description of modern process control systems along with process control processes as such. After discussing the particular process control requirements of nuclear power plants the paper deals with the reliability and availability of process control systems and refers to computerized simulation processes. The subsequent paragraphs are dedicated to descriptions of the operating floor, ergonomic conditions, existing systems, flue gas desulfurization systems, the electromagnetic influences on digital circuits as well as of light wave uses. (HAG) [de

  2. ISABELLE control system

    International Nuclear Information System (INIS)

    Humphrey, J.W.; Frankel, R.S.; Niederer, J.A.

    1980-01-01

    Design principles for the Brookhaven ISABELLE control intersecting storage ring accelerator are described. Principal features include a locally networked console and control computer complex, a system wide process data highway, and intelligent local device controllers. Progress to date is summarized

  3. Reactor control system. PWR

    International Nuclear Information System (INIS)

    2009-01-01

    At present, 23 units of PWR type reactors have been operated in Japan since the start of Mihama Unit 1 operation in 1970 and various improvements have been made to upgrade operability of power stations as well as reliability and safety of power plants. As the share of nuclear power increases, further improvements of operating performance such as load following capability will be requested for power stations with more reliable and safer operation. This article outlined the reactor control system of PWR type reactors and described the control performance of power plants realized with those systems. The PWR control system is characterized that the turbine power is automatic or manually controlled with request of the electric power system and then the nuclear power is followingly controlled with the change of core reactivity. The system mainly consists of reactor automatic control system (control rod control system), pressurizer pressure control system, pressurizer water level control system, steam generator water level control system and turbine bypass control system. (T. Tanaka)

  4. Developments of STR project in the scope of teleoperation handling robotic for the operation in Spanish nuclear facilities; Desarrollos del proyecto SRT en el area de manipulacion robotica teleoperada para la operacion de las instalaciones nucleares espanolas

    Energy Technology Data Exchange (ETDEWEB)

    Bielza, M [ENDESA (Spain); Gomez Santamaria, J [IBERDROLA (Spain); Izquierdo, J A [C.N. COFRENTES (Spain); Martinez, S [C.N. ASCO (Spain); Linares, F [ENSA (Spain); Avello, A [CEIT (Spain); Gago, M J [IBRINCO (Spain)

    1998-12-01

    The main objective of the Teleoperated Robotic Systems project (SRT) is the development of teleoperated robotic systems for use in the inspection, surveillance and maintenance operations in nuclear and radioactive installations. These systems make possible the reduction of the individual and collective doses of the workers that undertake these operations, as well as an increase of plant availability as it is possible to carry out specific tasks of inspection and surveillance in high radiation dose areas without having to reduce the power of the installation. This project started in 1995, deciding to priorize the inspection equipment in a first phase. When this work were advanced, the development of the manipulation activities was carried out to being consider the nuclear installations needs. As a result of this work, the manipulation requirements were elaborated in order to prepare the beginning technical specifications to design the equipment s. These developments are based on a fixed manipulator which is located closed to the equipment that we want to repair, and an arm manipulator which moves by caterpillars, it is easier to control than others; and the navigation system which allows the robot self-locating in the complex area. In this paper the conclusions about the manipulation requirements are described, as well as the state of the manipulation prototype. (Author)

  5. Usability testing of a mobile robotic system for in-home telerehabilitation.

    Science.gov (United States)

    Boissy, Patrick; Brière, Simon; Corriveau, Hélène; Grant, Andrew; Lauria, Michel; Michaud, François

    2011-01-01

    Mobile robots designed to enhance telepresence in the support of telehealth services are being considered for numerous applications. TELEROBOT is a teleoperated mobile robotic platform equipped with videoconferencingcapabilities and designed to be used in a home environment to. In this study, learnability of the system's teleoperation interface and controls was evaluated with ten rehabilitation professionals during four training sessions in a laboratory environment and in an unknown home environment while performing the execution of a standardized evaluation protocol typically used in home care. Results show that the novice teleoperators' performances on two of the four metrics used (number of command and total time) improved significantly across training sessions (ANOVAS, phome environment during navigation tasks (r=0,77 and 0,60). With only 4 hours of training, rehabilitation professionals were able learn to teleoperate successfully TELEROBOT. However teleoperation performances remained significantly less efficient then those of an expert. Under the home task condition (navigating the home environment from one point to the other as fast as possible) this translated to completion time between 350 seconds (best performance) and 850 seconds (worse performance). Improvements in other usability aspects of the system will be needed to meet the requirements of in-home telerehabilitation.

  6. Integrated control systems

    International Nuclear Information System (INIS)

    Smith, D.J.

    1991-01-01

    This paper reports that instrument manufacturers must develop standard network interfaces to pull together interrelated systems such as automatic start-up, optimization programs, and online diagnostic systems. In the past individual control system manufacturers have developed their own data highways with proprietary hardware and software designs. In the future, electric utilities will require that future systems, irrespective of manufacturer, should be able to communicate with each other. Until now the manufactures of control systems have not agreed on the standard high-speed data highway system. Currently, the Electric Power Research Institute (EPRI), in conjunction with several electric utilities and equipment manufactures, is working on developing a standard protocol for communicating between various manufacturers' control systems. According to N. Michael of Sargent and Lundy, future control room designs will require that more of the control and display functions be accessible from the control room through CRTs. There will be less emphasis on traditional hard-wired control panels

  7. Intelligent viewing control for robotic and automation systems

    Science.gov (United States)

    Schenker, Paul S.; Peters, Stephen F.; Paljug, Eric D.; Kim, Won S.

    1994-10-01

    We present a new system for supervisory automated control of multiple remote cameras. Our primary purpose in developing this system has been to provide capability for knowledge- based, `hands-off' viewing during execution of teleoperation/telerobotic tasks. The reported technology has broader applicability to remote surveillance, telescience observation, automated manufacturing workcells, etc. We refer to this new capability as `Intelligent Viewing Control (IVC),' distinguishing it from a simple programmed camera motion control. In the IVC system, camera viewing assignment, sequencing, positioning, panning, and parameter adjustment (zoom, focus, aperture, etc.) are invoked and interactively executed by real-time by a knowledge-based controller, drawing on a priori known task models and constraints, including operator preferences. This multi-camera control is integrated with a real-time, high-fidelity 3D graphics simulation, which is correctly calibrated in perspective to the actual cameras and their platform kinematics (translation/pan-tilt). Such merged graphics- with-video design allows the system user to preview and modify the planned (`choreographed') viewing sequences. Further, during actual task execution, the system operator has available both the resulting optimized video sequence, as well as supplementary graphics views from arbitrary perspectives. IVC, including operator-interactive designation of robot task actions, is presented to the user as a well-integrated video-graphic single screen user interface allowing easy access to all relevant telerobot communication/command/control resources. We describe and show pictorial results of a preliminary IVC system implementation for telerobotic servicing of a satellite.

  8. A multitasking behavioral control system for the Robotic All Terrain Lunar Exploration Rover (RATLER)

    Science.gov (United States)

    Klarer, P.

    1994-01-01

    An alternative methodology for designing an autonomous navigation and control system is discussed. This generalized hybrid system is based on a less sequential and less anthropomorphic approach than that used in the more traditional artificial intelligence (AI) technique. The architecture is designed to allow both synchronous and asynchronous operations between various behavior modules. This is accomplished by intertask communications channels which implement each behavior module and each interconnection node as a stand-alone task. The proposed design architecture allows for construction of hybrid systems which employ both subsumption and traditional AI techniques as well as providing for a teleoperator's interface. Implementation of the architecture is planned for the prototype Robotic All Terrain Lunar Explorer Rover (RATLER) which is described briefly.

  9. Costing for the Future: Exploring Cost Estimation With Unmanned Autonomous Systems

    Science.gov (United States)

    2016-04-30

    country terrain. Control modes include tethered , radio control, teleoperation (NLOS and BLOS), supervised autonomy, and voice command. TRL level is 7–9...Technology Conference and Balloon Systems Conference. Acknowledgments This material is based upon work supported by the Naval Postgraduate School

  10. A national control system

    International Nuclear Information System (INIS)

    Larsson, A.

    1975-01-01

    An effective control of nuclear fissionable material is dependent on three different kinds of control, the industry - laboratory management, a national control system and an international safeguards system. The national systems of control differ greatly between various industrialized countries. Two principal reasons for fact can be mentioned. The type and the amounts for nuclear material may be different depending upon the stage of development of the nuclear industry in the country in question. Another reason may be that the country may wish to establish a very elaborate national system of control in order to minimize the IAEA control as much as possible. The two safeguards agreements between the Agency and Sweden on one hand and the Agency and Japan on the other hand can serve as examples for the understanding of the latitude of the IAEA safeguards system under NPT due to the influence of the national control system. If it thus is apparent that the national control system is strongly interrelated to the international safeguards system it is equally influenced by the control and accountancy systems which exist at the nuclear plants and development laboratories. A detailed study of national control systems and their relations to plant management control would fall outside the scope of this article. Some important features will however be examined. (author)

  11. Intelligent control systems 1990

    International Nuclear Information System (INIS)

    Shoureshi, R.

    1991-01-01

    The field of artificial intelligence (Al) has generated many useful ideas and techniques that can be integrated into the design of control systems. It is believed and, for special cases, has been demonstrated, that integration of Al into control systems would provide the necessary tools for solving many of the complex problems that present control techniques and Al algorithms are unable to do, individually. However, this integration requires the development of basic understanding and new fundamentals to provide scientific bases for achievement of its potential. This book presents an overview of some of the latest research studies in the area of intelligent control systems. These papers present techniques for formulation of intelligent control, and development of the rule-based control systems. Papers present applications of control systems in nuclear power plants and HVAC systems

  12. ALFA Detector Control System

    CERN Document Server

    Oleiro Seabra, Luis Filipe; The ATLAS collaboration

    2015-01-01

    ALFA (Absolute Luminosity For ATLAS) is one of the sub-detectors of ATLAS (A Toroidal LHC Apparatus). The ALFA system is composed by four stations installed in the LHC tunnel 240 m away from the ATLAS interaction point. Each station has a vacuum and ventilation system, movement control and all the required electronics for signal processing. The Detector Control System (DCS) provides control and monitoring of several components and ensures the safe operation of the detector contributing to good Data Quality. This paper describes the ALFA DCS system including a detector overview, operation aspects and hardware control through a SCADA system, WinCC OA.

  13. ALFA Detector Control System

    CERN Document Server

    Oleiro Seabra, Luis Filipe; The ATLAS collaboration

    2015-01-01

    ALFA (Absolute Luminosity For ATLAS) is one of the sub-detectors of ATLAS/LHC. The ALFA system is composed by two stations installed in the LHC tunnel 240 m away from each side of the ATLAS interaction point. Each station has a vacuum and ventilation system, movement control and all the required electronic for signal processing. The Detector Control System (DCS) provides control and monitoring of several components and ensures the safe operation of the detector contributing to good Data Quality. This paper describes the ALFA DCS system including a detector overview, operation aspects and hardware control through a SCADA system, WinCC OA.

  14. A modular control system

    International Nuclear Information System (INIS)

    Cruz, B.; Drexler, J.; Olcese, G.; Santome, D.

    1990-01-01

    The main objective of the modular control system is to provide the requirements to most of the processes supervision and control applications within the industrial automatization area. The design is based on distribution, modulation and expansion concepts. (Author) [es

  15. Applied Control Systems Design

    CERN Document Server

    Mahmoud, Magdi S

    2012-01-01

    Applied Control System Design examines several methods for building up systems models based on real experimental data from typical industrial processes and incorporating system identification techniques. The text takes a comparative approach to the models derived in this way judging their suitability for use in different systems and under different operational circumstances. A broad spectrum of control methods including various forms of filtering, feedback and feedforward control is applied to the models and the guidelines derived from the closed-loop responses are then composed into a concrete self-tested recipe to serve as a check-list for industrial engineers or control designers. System identification and control design are given equal weight in model derivation and testing to reflect their equality of importance in the proper design and optimization of high-performance control systems. Readers’ assimilation of the material discussed is assisted by the provision of problems and examples. Most of these e...

  16. The ILC control system

    International Nuclear Information System (INIS)

    Carwardine, J.; Saunders, C.; Arnold, N.; Lenkszus, F.; Rehlich, K.; Simrock, S.; Banerjee, b.; Chase, B.; Gottschalk, E.; Joireman, P.; Kasley, P.; Lackey, S.; McBride, P.; Pavlicek, V.; Patrick, J.; Votava, M.; Wolbers, S.; Furukawa, K.; Michizono, S.; Larson, R.S.; Downing, R.

    2007-01-01

    Since the last ICALEPCS, a small multi-region team has developed a reference design model for a control system for the International Linear Collider as part of the ILC Global Design Effort. The scale and performance parameters of the ILC accelerator require new thinking in regards to control system design. Technical challenges include the large number of accelerator systems to be controlled, the large scale of the accelerator facility, the high degree of automation needed during accelerator operations, and control system equipment requiring 'Five Nines' availability. The R and D path for high availability touches the control system hardware, software, and overall architecture, and extends beyond traditional interfaces into the technical systems. Software considerations for HA include fault detection through exhaustive out-of-band monitoring and automatic state migration to redundant systems, while the telecom industry's emerging ATCA standard - conceived, specified, and designed for High Availability - is being evaluated for suitability for ILC front-end electronics.

  17. Control systems engineering

    CERN Document Server

    Nise, Norman S

    1995-01-01

    This completely updated new edition shows how to use MATLAB to perform control-system calculations. Designed for the professional or engineering student who needs a quick and readable update on designing control systems, the text features a series of tightly focused examples that clearly illustrate each concept of designing control systems. Most chapters conclude with a detailed application from the two case studies that run throughout the book: an antenna asimuth control system and a submarine. The author also refers to many examples of design methods.

  18. The JPL telerobotic Manipulator Control and Mechanization (MCM) subsystem

    Science.gov (United States)

    Hayati, Samad; Lee, Thomas S.; Tso, Kam; Backes, Paul; Kan, Edwin; Lloyd, J.

    1989-01-01

    The Manipulator Control and Mechanization (MCM) subsystem of the telerobot system provides the real-time control of the robot manipulators in autonomous and teleoperated modes and real time input/output for a variety of sensors and actuators. Substantial hardware and software are included in this subsystem which interfaces in the hierarchy of the telerobot system with the other subsystems. The other subsystems are: run time control, task planning and reasoning, sensing and perception, and operator control subsystem. The architecture of the MCM subsystem, its capabilities, and details of various hardware and software elements are described. Important improvements in the MCM subsystem over the first version are: dual arm coordinated trajectory generation and control, addition of integrated teleoperation, shared control capability, replacement of the ultimate controllers with motor controllers, and substantial increase in real time processing capability.

  19. Discrete control systems

    CERN Document Server

    Okuyama, Yoshifumi

    2014-01-01

    Discrete Control Systems establishes a basis for the analysis and design of discretized/quantized control systemsfor continuous physical systems. Beginning with the necessary mathematical foundations and system-model descriptions, the text moves on to derive a robust stability condition. To keep a practical perspective on the uncertain physical systems considered, most of the methods treated are carried out in the frequency domain. As part of the design procedure, modified Nyquist–Hall and Nichols diagrams are presented and discretized proportional–integral–derivative control schemes are reconsidered. Schemes for model-reference feedback and discrete-type observers are proposed. Although single-loop feedback systems form the core of the text, some consideration is given to multiple loops and nonlinearities. The robust control performance and stability of interval systems (with multiple uncertainties) are outlined. Finally, the monograph describes the relationship between feedback-control and discrete ev...

  20. Field analysis: approach to the design of teleoperator workstation

    International Nuclear Information System (INIS)

    Saint-Jean, T.; Lescoat, D.A.

    1986-04-01

    Following a brief review of theoretical scope this paper will characterize a methodology to the design of teleoperation workstations. This methodology is illustrated by an example - field analysis of a telemanipulation task in a hot cell. Practical informations are given: operating strategy different from the written procedure, team work organization, different skills. Recommendations are suggested as regards the writing of procedures, the training of personnel and the work organisation

  1. Use of accident experience in developing criteria for teleoperator equipment

    International Nuclear Information System (INIS)

    Vallario, E.J.; Selby, J.M.

    1985-10-01

    The 1961 SL-1 reactor accident in Idaho and the Recuplex accident at Hanford are reviewed to identify problems common to emergency situations, lessons learned from accidents, criteria for emergency equipment, and recommendations for using robotics to solve problems during emergencies. Teleoperator equipment could be used to assess the extent of the damage and the condition of the reactor, retrieve dosimeters, evacuate and treat accident victims, clean up debris and decontaminate accident areas. 2 refs., 9 figs

  2. Objective evaluation of situation awareness for dynamic decision makers in teleoperations

    Science.gov (United States)

    Endsley, Mica R.

    1991-01-01

    Situation awareness, a current mental mode of the environment, is critical to the ability of operators to perform complex and dynamic tasks. This should be particularly true for teleoperators, who are separated from the situation they need to be aware of. The design of the man-machine interface must be guided by the goal of maintaining and enhancing situation awareness. The objective of this work has been to build a foundation upon which research in the area can proceed. A model of dynamic human decision making which is inclusive of situation awareness will be presented, along with a definition of situation awareness. A method for measuring situation awareness will also be presented as a tool for evaluating design concepts. The Situation Awareness Global Assessment Technique (SAGAT) is an objective measure of situation awareness originally developed for the fighter cockpit environment. The results of SAGAT validation efforts will be presented. Implications of this research for teleoperators and other operators of dynamic systems will be discussed.

  3. Biogas plant control system

    International Nuclear Information System (INIS)

    Balasevicius, L.; Dervinis, G.; Macerauskas, V.

    2002-01-01

    This paper presents intelligent control system for the pig farm biogas production process. The system uses a fuzzy logic models based on knowledge of experts and operators. Four fuzzy models are introduced. The adequacy of fuzzy models is verified using real data and MATLAB simulation. Proposed expert system is implemented into traditional SCADA system for biogas process prediction and failure analyzing. (authors)

  4. Control system design guide

    Energy Technology Data Exchange (ETDEWEB)

    Sellers, David; Friedman, Hannah; Haasl, Tudi; Bourassa, Norman; Piette, Mary Ann

    2003-05-01

    The ''Control System Design Guide'' (Design Guide) provides methods and recommendations for the control system design process and control point selection and installation. Control systems are often the most problematic system in a building. A good design process that takes into account maintenance, operation, and commissioning can lead to a smoothly operating and efficient building. To this end, the Design Guide provides a toolbox of templates for improving control system design and specification. HVAC designers are the primary audience for the Design Guide. The control design process it presents will help produce well-designed control systems that achieve efficient and robust operation. The spreadsheet examples for control valve schedules, damper schedules, and points lists can streamline the use of the control system design concepts set forth in the Design Guide by providing convenient starting points from which designers can build. Although each reader brings their own unique questions to the text, the Design Guide contains information that designers, commissioning providers, operators, and owners will find useful.

  5. Control rod shutdown system

    International Nuclear Information System (INIS)

    Miyamoto, Yoshiyuki; Higashigawa, Yuichi.

    1996-01-01

    The present invention provides a control rod terminating system in a BWR type nuclear power plant, which stops an induction electric motor as rapidly as possible to terminate the control rods. Namely, the control rod stopping system controls reactor power by inserting/withdrawing control rods into a reactor by driving them by the induction electric motor. The system is provided with a control device for controlling the control rods and a control device for controlling the braking device. The control device outputs a braking operation signal for actuating the braking device during operation of the control rods to stop the operation of the control rods. Further, the braking device has at least two kinds of breaks, namely, a first and a second brakes. The two kinds of brakes are actuated by receiving the brake operation signals at different timings. The brake device is used also for keeping the control rods after the stopping. Even if a stopping torque of each of the breaks is small, different two kinds of brakes are operated at different timings thereby capable of obtaining a large stopping torque as a total. (I.S.)

  6. The effect of a robot-assisted surgical system on the kinematics of user movements.

    Science.gov (United States)

    Nisky, Ilana; Hsieh, Michael H; Okamura, Allison M

    2013-01-01

    Teleoperated robot-assisted surgery (RAS) offers many advantages over traditional minimally invasive surgery. However, RAS has not yet realized its full potential, and it is not clear how to optimally train surgeons to use these systems. We hypothesize that the dynamics of the master manipulator impact the ability of users to make desired movements with the robot. We compared freehand and teleoperated movements of novices and experienced surgeons. To isolate the effects of dynamics from procedural knowledge, we chose simple movements rather than surgical tasks. We found statistically significant effects of teleoperation and user expertise in several aspects of motion, including target acquisition error, movement speed, and movement smoothness. Such quantitative assessment of human motor performance in RAS can impact the design of surgical robots, their control, and surgeon training methods, and eventually, improve patient outcomes.

  7. Systems and Control Engineering

    Indian Academy of Sciences (India)

    Home; Journals; Resonance – Journal of Science Education; Volume 4; Issue 5. Systems and Control Engineering - Control Systems-Analysis and Design. A Rama Kalyan J R Vengateswaran. General Article Volume 4 Issue 5 May 1999 pp 88-94 ...

  8. Spacecraft momentum control systems

    CERN Document Server

    Leve, Frederick A; Peck, Mason A

    2015-01-01

    The goal of this book is to serve both as a practical technical reference and a resource for gaining a fuller understanding of the state of the art of spacecraft momentum control systems, specifically looking at control moment gyroscopes (CMGs). As a result, the subject matter includes theory, technology, and systems engineering. The authors combine material on system-level architecture of spacecraft that feature momentum-control systems with material about the momentum-control hardware and software. This also encompasses material on the theoretical and algorithmic approaches to the control of space vehicles with CMGs. In essence, CMGs are the attitude-control actuators that make contemporary highly agile spacecraft possible. The rise of commercial Earth imaging, the advances in privately built spacecraft (including small satellites), and the growing popularity of the subject matter in academic circles over the past decade argues that now is the time for an in-depth treatment of the topic. CMGs are augmented ...

  9. Neutron generator control system

    International Nuclear Information System (INIS)

    Peelman, H.E.; Bridges, J.R.

    1981-01-01

    A method is described of controlling the neutron output of a neutron generator tube used in neutron well logging. The system operates by monitoring the target beam current and comparing a function of this current with a reference voltage level to develop a control signal used in a series regulator to control the replenisher current of the neutron generator tube. (U.K.)

  10. Dynamic Systems and Control Engineering

    International Nuclear Information System (INIS)

    Kim, Jong Seok

    1994-02-01

    This book deals with introduction of dynamic system and control engineering, frequency domain modeling of dynamic system, temporal modeling of dynamic system, typical dynamic system and automatic control device, performance and stability of control system, root locus analysis, analysis of frequency domain dynamic system, design of frequency domain dynamic system, design and analysis of space, space of control system and digital control system such as control system design of direct digital and digitalization of consecutive control system.

  11. Dynamic Systems and Control Engineering

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Jong Seok

    1994-02-15

    This book deals with introduction of dynamic system and control engineering, frequency domain modeling of dynamic system, temporal modeling of dynamic system, typical dynamic system and automatic control device, performance and stability of control system, root locus analysis, analysis of frequency domain dynamic system, design of frequency domain dynamic system, design and analysis of space, space of control system and digital control system such as control system design of direct digital and digitalization of consecutive control system.

  12. Drone Control System

    Science.gov (United States)

    1983-01-01

    Drones, subscale vehicles like the Firebees, and full scale retired military aircraft are used to test air defense missile systems. The DFCS (Drone Formation Control System) computer, developed by IBM (International Business Machines) Federal Systems Division, can track ten drones at once. A program called ORACLS is used to generate software to track and control Drones. It was originally developed by Langley and supplied by COSMIC (Computer Software Management and Information Center). The program saved the company both time and money.

  13. Magnetic spectrometer control system

    International Nuclear Information System (INIS)

    Lecca, L.A.; Di Paolo, Hugo; Fernandez Niello, Jorge O.; Marti, Guillermo V; Pacheco, Alberto J.; Ramirez, Marcelo

    2003-01-01

    The design and implementation of a new computerized control system for the several devices of the magnetic spectrometer at TANDAR Laboratory is described. This system, as a main difference from the preexisting one, is compatible with almost any operating systems of wide spread use available in PC. This allows on-line measurement and control of all signals from any terminal of a computer network. (author)

  14. HYBRID VEHICLE CONTROL SYSTEM

    Directory of Open Access Journals (Sweden)

    V. Dvadnenko

    2016-06-01

    Full Text Available The hybrid vehicle control system includes a start–stop system for an internal combustion engine. The system works in a hybrid mode and normal vehicle operation. To simplify the start–stop system, there were user new possibilities of a hybrid car, which appeared after the conversion. Results of the circuit design of the proposed system of basic blocks are analyzed.

  15. The control system

    International Nuclear Information System (INIS)

    1988-01-01

    The present control system has matured both in terms of age and capacity. Thus a new system based on a local area network (LAN) is being developed. A pilot project has been started but, owing to difficulties encountered with the present operating system used with the microprocessors, it has become necessary to reconsider the choice of operating system. A recently-released multi-tasking operating system that runs on the existing hardware has been chosen. 1 fig

  16. System control and communication

    International Nuclear Information System (INIS)

    Bindner, H.; Oestergaard, J.

    2005-01-01

    Rapid and ongoing development in the energy sector has consequences for system control at all levels. In relation to system control and communication the control system is challenged in five important ways: 1) Expectations for security of supply, robustness and vulnerability are becoming more stringent, and the control system plays a big part in meeting these expectations. 2) Services are becoming increasingly based on markets that involve the transmission system operators (TSOs), generators and distribution companies. Timely, accurate and secure communication is essential to the smooth running of the markets. 3) Adding large amounts of renewable energy (RE) to the mix is a challenge for control systems because of the intermittent availability of many RE sources. 4) Increasing the number of active components in the system, such as small CHP plants, micro-CHP and intelligent loads, means that the system control will be much more complex. 5) In the future it is likely that power, heat, gas, transport and communication systems will be tighter coupled and interact much more. (au)

  17. The CEBAF control system

    International Nuclear Information System (INIS)

    Watson, W.A. III.

    1995-01-01

    CEBAF has recently upgraded its accelerator control system to use EPICS, a control system toolkit being developed by a collaboration among laboratories in the US and Europe. The migration to EPICS has taken place during a year of intense commissioning activity, with new and old control systems operating concurrently. Existing CAMAC hardware was preserved by adding a CAMAC serial highway link to VME; newer hardware developments are now primarily in VME. Software is distributed among three tiers of computers: first, workstations and X terminals for operator interfaces and high level applications; second, VME single board computers for distributed access to hardware and for local control processing; third, embedded processors where needed for faster closed loop operation. This system has demonstrated the ability to scale EPICS to controlling thousands of devices, including hundreds of embedded processors, with control distributed among dozens of VME processors executing more than 125,000 EPICS database records. To deal with the large size of the control system, CEBAF has integrated an object oriented database, providing data management capabilities for both low level I/O and high level machine modeling. A new callable interface which is control system independent permits access to live EPICS data, data in other Unix processes, and data contained in the object oriented database

  18. Load Control System Reliability

    Energy Technology Data Exchange (ETDEWEB)

    Trudnowski, Daniel [Montana Tech of the Univ. of Montana, Butte, MT (United States)

    2015-04-03

    This report summarizes the results of the Load Control System Reliability project (DOE Award DE-FC26-06NT42750). The original grant was awarded to Montana Tech April 2006. Follow-on DOE awards and expansions to the project scope occurred August 2007, January 2009, April 2011, and April 2013. In addition to the DOE monies, the project also consisted of matching funds from the states of Montana and Wyoming. Project participants included Montana Tech; the University of Wyoming; Montana State University; NorthWestern Energy, Inc., and MSE. Research focused on two areas: real-time power-system load control methodologies; and, power-system measurement-based stability-assessment operation and control tools. The majority of effort was focused on area 2. Results from the research includes: development of fundamental power-system dynamic concepts, control schemes, and signal-processing algorithms; many papers (including two prize papers) in leading journals and conferences and leadership of IEEE activities; one patent; participation in major actual-system testing in the western North American power system; prototype power-system operation and control software installed and tested at three major North American control centers; and, the incubation of a new commercial-grade operation and control software tool. Work under this grant certainly supported the DOE-OE goals in the area of “Real Time Grid Reliability Management.”

  19. ISTTOK control system upgrade

    Energy Technology Data Exchange (ETDEWEB)

    Carvalho, Ivo S., E-mail: ivoc@ipfn.ist.utl.pt; Duarte, Paulo; Fernandes, Horácio; Valcárcel, Daniel F.; Carvalho, Pedro J.; Silva, Carlos; Duarte, André S.; Neto, André; Sousa, Jorge; Batista, António J.N.; Carvalho, Bernardo B.

    2013-10-15

    Highlights: •ISTTOK fast controller. •All real-time diagnostic and actuators were integrated in the control platform. •100 μs control cycle under the MARTe framework. •The ISTTOK control system upgrade provides reliable operation with an improved operational space. -- Abstract: The ISTTOK tokamak (Ip = 4 kA, BT = 0.5 T, R = 0.46 m, a = 0.085 m) is one of the few tokamaks with regular alternate plasma current (AC) discharges scientific programme. In order to improve the discharge stability and to increase the number of AC discharge cycles a novel control system was developed. The controller acquires data from 50 analog-to-digital converter (ADC) channels of real-time diagnostics and measurements: tomography, Mirnov coils, interferometer, electric probes, sine and cosine probes, bolometer, current delivered by the power supplies, loop voltage and plasma current. The system has a control cycle of 100 μs during which it reads all the diagnostics connected to the advanced telecommunications computing architecture (ATCA) digitizers and sends the control reference to ISTTOK actuators. The controller algorithms are executed on an Intel{sup ®} Q8200 chip with 4 cores running at 2.33 GHz and connected to the I/O interfaces through an ATCA based environment. The real-time control system was programmed in C++ on top of the Multi-threaded Application Real-Time executor (MARTe). To extend the duration of the AC discharges and the plasma stability a new magnetising field power supply was commissioned and the horizontal and vertical field power supplies were also upgraded. The new system also features a user-friendly interface based on HyperText Markup Language (HTML) and Javascript to configure the controller parameters. This paper presents the ISTTOK control system and the consequent update of real-time diagnostics and actuators.

  20. ISTTOK control system upgrade

    International Nuclear Information System (INIS)

    Carvalho, Ivo S.; Duarte, Paulo; Fernandes, Horácio; Valcárcel, Daniel F.; Carvalho, Pedro J.; Silva, Carlos; Duarte, André S.; Neto, André; Sousa, Jorge; Batista, António J.N.; Carvalho, Bernardo B.

    2013-01-01

    Highlights: •ISTTOK fast controller. •All real-time diagnostic and actuators were integrated in the control platform. •100 μs control cycle under the MARTe framework. •The ISTTOK control system upgrade provides reliable operation with an improved operational space. -- Abstract: The ISTTOK tokamak (Ip = 4 kA, BT = 0.5 T, R = 0.46 m, a = 0.085 m) is one of the few tokamaks with regular alternate plasma current (AC) discharges scientific programme. In order to improve the discharge stability and to increase the number of AC discharge cycles a novel control system was developed. The controller acquires data from 50 analog-to-digital converter (ADC) channels of real-time diagnostics and measurements: tomography, Mirnov coils, interferometer, electric probes, sine and cosine probes, bolometer, current delivered by the power supplies, loop voltage and plasma current. The system has a control cycle of 100 μs during which it reads all the diagnostics connected to the advanced telecommunications computing architecture (ATCA) digitizers and sends the control reference to ISTTOK actuators. The controller algorithms are executed on an Intel ® Q8200 chip with 4 cores running at 2.33 GHz and connected to the I/O interfaces through an ATCA based environment. The real-time control system was programmed in C++ on top of the Multi-threaded Application Real-Time executor (MARTe). To extend the duration of the AC discharges and the plasma stability a new magnetising field power supply was commissioned and the horizontal and vertical field power supplies were also upgraded. The new system also features a user-friendly interface based on HyperText Markup Language (HTML) and Javascript to configure the controller parameters. This paper presents the ISTTOK control system and the consequent update of real-time diagnostics and actuators

  1. Control system integration

    CERN Document Server

    Shea, T J

    2008-01-01

    This lecture begins with a definition of an accelerator control system, and then reviews the control system architectures that have been deployed at the larger accelerator facilities. This discussion naturally leads to identification of the major subsystems and their interfaces. We shall explore general strategies for integrating intelligent devices and signal processing subsystems based on gate arrays and programmable DSPs. The following topics will also be covered: physical packaging; timing and synchronization; local and global communication technologies; interfacing to machine protection systems; remote debugging; configuration management and source code control; and integration of commercial software tools. Several practical realizations will be presented.

  2. The Epicure Control System

    International Nuclear Information System (INIS)

    Dambik, E.; Kline, D.; West, R.

    1993-09-01

    The Epicure Control System supports the Fermilab fixed target physics program. The system is distributed across a network of many different types of components. The use of multiple layers on interfaces for communication between logical tasks fits the client-server model. Physical devices are read and controlled using symbolic references entered into a database with an editor utility. The database system consists of a central portion containing all device information and optimized portions distributed among many nodes. Updates to the database are available throughout the system within minutes after being requested

  3. Control systems under attack?

    CERN Document Server

    Lüders, Stefan

    2005-01-01

    The enormous growth of the Internet during the last decade offers new means to share and distribute both information and data. In Industry, this results in a rapprochement of the production facilities, i.e. their Process Control and Automation Systems, and the data warehouses. At CERN, the Internet opens the possibility to monitor and even control (parts of) the LHC and its four experiments remotely from anywhere in the world. However, the adoption of standard IT technologies to Distributed Process Control and Automation Systems exposes inherent vulnerabilities to the world. The Teststand On Control System Security at CERN (TOCSSiC) is dedicated to explore the vulnerabilities of arbitrary Commercial-Of-The-Shelf hardware devices connected to standard Ethernet. As such, TOCSSiC should discover their vulnerabilities, point out areas of lack of security, and address areas of improvement which can then be confidentially communicated to manufacturers. This paper points out risks of accessing the Control and Automa...

  4. Tautological control systems

    CERN Document Server

    Lewis, Andrew D

    2014-01-01

    This brief presents a description of a new modelling framework for nonlinear/geometric control theory. The framework is intended to be—and shown to be—feedback-invariant. As such, Tautological Control Systems provides a platform for understanding fundamental structural problems in geometric control theory. Part of the novelty of the text stems from the variety of regularity classes, e.g., Lipschitz, finitely differentiable, smooth, real analytic, with which it deals in a comprehensive and unified manner. The treatment of the important real analytic class especially reflects recent work on real analytic topologies by the author. Applied mathematicians interested in nonlinear and geometric control theory will find this brief of interest as a starting point for work in which feedback invariance is important. Graduate students working in control theory may also find Tautological Control Systems to be a stimulating starting point for their research.

  5. Reset Control Systems

    CERN Document Server

    Baños, Alfonso

    2012-01-01

    Reset Control Systems addresses the analysis for reset control treating both its basic form which requires only that the state of the controller be reinitialized to zero (the reset action) each time the tracking error crosses zero (the reset condition), and some useful variations of the reset action (partial reset with fixed or variable reset percentage) and of the reset condition (fixed or variable reset band and anticipative reset). The issues regarding reset control – concepts and motivation; analysis tools; and the application of design methodologies to real-world examples – are given comprehensive coverage. The text opens with an historical perspective which moves from the seminal work of the Clegg integrator and Horowitz FORE to more recent approaches based on impulsive/hybrid control systems and explains the motivation for reset compensation. Preliminary material dealing with notation, basic definitions and results, and with the definition of the control problem under study is also included. The fo...

  6. Flight control actuation system

    Science.gov (United States)

    Wingett, Paul T. (Inventor); Gaines, Louie T. (Inventor); Evans, Paul S. (Inventor); Kern, James I. (Inventor)

    2006-01-01

    A flight control actuation system comprises a controller, electromechanical actuator and a pneumatic actuator. During normal operation, only the electromechanical actuator is needed to operate a flight control surface. When the electromechanical actuator load level exceeds 40 amps positive, the controller activates the pneumatic actuator to offset electromechanical actuator loads to assist the manipulation of flight control surfaces. The assistance from the pneumatic load assist actuator enables the use of an electromechanical actuator that is smaller in size and mass, requires less power, needs less cooling processes, achieves high output forces and adapts to electrical current variations. The flight control actuation system is adapted for aircraft, spacecraft, missiles, and other flight vehicles, especially flight vehicles that are large in size and travel at high velocities.

  7. Reactor limit control system

    International Nuclear Information System (INIS)

    Rubbel, F.E.

    1982-01-01

    The very extensive use of limitations in the operational field between protection system and closed-loop controls is an important feature of German understanding of operational safety. The design of limitations is based on very large activities in the computational field but mostly on the high level of the plant-wide own commissioning experience of a turnkey contractor. Limitations combine intelligence features of closed-loop controls with the high availability of protection systems. (orig.)

  8. Fluid flow control system

    International Nuclear Information System (INIS)

    Rion, Jacky.

    1982-01-01

    Fluid flow control system featuring a series of grids placed perpendicular to the fluid flow direction, characterized by the fact that it is formed of a stack of identical and continuous grids, each of which consists of identical meshes forming a flat lattice. The said meshes are offset from one grid to the next. This system applies in particular to flow control of the coolant flowing at the foot of an assembly of a liquid metal cooled nuclear reactor [fr

  9. Internal control system

    OpenAIRE

    Pavésková, Ivana

    2014-01-01

    Dissertation focuse on the internal control system in the enterprises, aims to map the control system by focusing on the purchasing department. I focused on the purchasing process, because with an increasing trends of outsourcing services and the increasing interconnectedness of enterprises increases the risk of fraud currently in the purchasing process. To the research was selected the sample of companies from the banking and non-banking environment, to which were sent a questionnaire focusi...

  10. Systems and Control Engineering

    Indian Academy of Sciences (India)

    Home; Journals; Resonance – Journal of Science Education; Volume 4; Issue 1. Systems and Control Engineering - Notions of Control. A Rama Kalyan J R Vengateswaran. General Article Volume 4 Issue 1 January 1999 pp 45-52. Fulltext. Click here to view fulltext PDF. Permanent link:

  11. Controllability of nilpotent systems

    International Nuclear Information System (INIS)

    Bravo, V.A.; Martin, L.S.

    1993-02-01

    The purpose of this paper is to investigate algebraic conditions which give information about the controllability of invariant control systems on nilpotent Lie groups. With the same purpose, the authors use the co-adjoint representation and define the concept of symplectic vectors. We study the existence of these objects to analyze the controllability. In particular, we obtain a characterization when G is simply connected. (author). 9 refs

  12. CEBAF control system

    International Nuclear Information System (INIS)

    Bork, R.; Grubb, C.; Lahti, G.; Navarro, E.; Sage, J.

    1989-01-01

    A logic-based computer control system is in development at CEBAF. This Unix/C language software package, running on a distributed, hierarchical system of workstation and supervisory minicomputers, interfaces to hardware via CAMAC. Software aspects to be covered are ladder logic, interactive database generation, networking, and graphic user interfaces. 1 fig

  13. PSR control system

    International Nuclear Information System (INIS)

    Clout, P.N.; Conley, A.P.; Bair, S.S.; Fuka, M.A.; Sandford, E.L.; Lander, R.F.; Wells, F.D.

    1985-01-01

    The control system for the Proton Storage Ring at Los Alamos has been essentially completed. Modifications are being applied that are required in the light of machine physics and operating experience. The present design of the system is described and future planned modifications are indicated

  14. Environment control system

    International Nuclear Information System (INIS)

    Sammarone, D.G.

    1978-01-01

    Disclosed is a system for controlling the environment of an enclosed area in nuclear reactor installations. The system permits the changing of the environment from nitrogen to air, or from air to nitrogen, without the release of any radioactivity or process gas to the outside atmosphere

  15. The ISOLDE control system

    Science.gov (United States)

    Deloose, I.; Pace, A.

    1994-12-01

    The two CERN isotope separators named ISOLDE have been running on the new Personal Computer (PC) based control system since April 1992. The new architecture that makes heavy use of the commercial software and hardware of the PC market has been implemented on the 1700 geographically distributed control channels of the two separators and their experimental area. Eleven MSDOS Intel-based PCs with approximately 80 acquisition and control boards are used to access the equipment and are controlled from three PCs running Microsoft Windows used as consoles through a Novell Local Area Network. This paper describes the interesting solutions found and discusses the reduced programming workload and costs that have been obtained.

  16. Application of teleoperator expertise to robotics

    International Nuclear Information System (INIS)

    Grisham, D.L.; Lambert, J.E.

    1985-01-01

    This paper will briefly describe the evolution of Monitor remote handling system and its present capabilities and accomplishments. It will also suggest that the equipment and operational expertise can be applied to robotic systems in radioactive and other hostile environments. The Monitor methods of operation, tooling devised and employed, and the applications of these methods to robotic systems will be described

  17. TMX magnet control system

    International Nuclear Information System (INIS)

    Goerz, D.A.

    1978-01-01

    A control system utilizing a microcomputer has been developed that controls the power supplies driving the Tandem Mirror Experiment (TMX) magnet set and monitors magnet coil operation. The magnet set consists of 18 magnet coils that are driven by 26 dc power supplies. There are two possible modes of operation with this system: a pulse mode where the coils are pulsed on for several seconds with a dc power consumption of 16 MW; and a continuous mode where the coils can run steady state at 10 percent of maximum current ratings. The processor has been given an active control role and serves as an interface between the operator and electronic circuitry that controls the magnet power supplies. This microcomputer also collects and processes data from many analog singal monitors in the coil circuits and numerous status signals from the supplies. Placing the microcomputer in an active control role has yielded a compact, cost effective system that simplifies the magnet system operation and has proven to be very reliable. This paper will describe the TMX magnet control sytem and discuss its development

  18. Markerless Kinect-Based Hand Tracking for Robot Teleoperation

    Directory of Open Access Journals (Sweden)

    Guanglong Du

    2012-07-01

    Full Text Available This paper presents a real-time remote robot teleoperation method using markerless Kinect-based hand tracking. Using this tracking algorithm, the positions of index finger and thumb in 3D can be estimated by processing depth images from Kinect. The hand pose is used as a model to specify the pose of a real-time remote robot's end-effector. This method provides a way to send a whole task to a remote robot instead of sending limited motion commands like gesture-based approaches and this method has been tested in pick-and-place tasks.

  19. Acquisition of Basic Behaviors through Teleoperation using Robonaut

    Science.gov (United States)

    Campbell, Christina

    2004-01-01

    My area of research is in artificial intelligence and robotics. The major platform of this research is NASA's Robonaut. This humanoid robot is located at the Johnson Space Center. Prior to receiving this grant, I was able to spend two summers in Houston working with the Robonaut team, which is headed by Rob Ambrose. My work centered on teaching Robonaut to grasp a wrench based on data gathered as a human teleoperated the robot. I tried to make the procedure as general as possible so that many different motions could be taught using this method.

  20. T-Rex system for operation in TRU, LLW, and hazardous zones

    International Nuclear Information System (INIS)

    Kline, H.M.; Andreychek, T.P.; Beeson, B.K.

    1993-01-01

    There are a large number of sites around the world containing TRU (transuranic) waste, low level waste (LLW), and hazardous areas that require teleoperated, heavy lift manipulators with long reach and high precision to handle the materials stored there. Teleoperation of the equipment is required to reduce the risk to operating personnel to as-low-as-reasonably-achievable (ALARA) levels. The Transuranic Storage Area Remote Excavator system (T-Rex) is designed to fill this requirement at low cost through the integration of a production front shovel excavator with a control system, local and remote operator control stations, a closed-circuit television system (CCTV), multiple end effectors and a quick-change system. This paper describes the conversion of an off-the-shelf excavator with a hydraulic control system, the integration of an onboard remote control system, vision system, and the design of a remote control station

  1. System control and display

    International Nuclear Information System (INIS)

    Jacobs, J.

    1977-01-01

    The system described was designed, developed, and installed on short time scales and primarily utilized of-the-shelf military and commercial hardware. The system was designed to provide security-in-depth and multiple security options with several stages of redundancy. Under normal operating conditions, the system is computer controlled with manual backup during abnormal conditions. Sensor alarm data are processed in conjunction with weather data to reduce nuisance alarms. A structured approach is used to order alarmed sectors for assessment. Alarm and video information is presented to security personnel in an interactive mode. Historical operational data are recorded for system evaluation

  2. Ion implantation control system

    International Nuclear Information System (INIS)

    Gault, R. B.; Keutzer, L. L.

    1985-01-01

    A control system is disclosed for an ion implantation system of the type in which the wafers to be implanted are mounted around the periphery of a disk which rotates and also moves in a radial direction relative to an ion beam to expose successive sections of each wafer to the radiation. The control system senses beam current which passes through one or more apertures in the disk and is collected by a Faraday cup. This current is integrated to obtain a measure of charge which is compared with a calculated value based upon the desired ion dosage and other parameters. The resultant controls the number of incremental steps the rotating disk moves radially to expose the adjacent sections of each wafer. This process is continued usually with two or more traverses until the entire surface of each wafer has been implanted with the proper ion dosage

  3. The TRISTAN control system

    International Nuclear Information System (INIS)

    Kurokawa, Shinichi; Akiyama, Atsuyoshi; Ishii, Kazuhiro; Kadokura, Eiichi; Katoh, Tadahiko; Kawamoto, Takashi; Kikutani, Eiji; Kimura, Yoshitaka; Koiso, Haruyo; Komada, Ichitaka; Kudo, Kikuo; Naito, Takashi; Oide, Katsunobu; Takeda, Shigeru; Uchino, Kenji; Urakawa, Junji; Shinomoto, Manabu; Kurihara, Michio; Abe, Kenichi

    1986-01-01

    The 8 GeV accumulation ring and the 30 GeV main ring of TRISTAN, an accelerator-storage ring complex at KEK, are controlled by a highly computerized control system. Twenty-four minicomputers are linked by optical fiber cables to form an N-to-N token ring network. The transmission speed on the cables is 10 Mbps. From each minicomputer, a CAMAC serial highway extends to the controlled equipment. At present, twenty minicomputers are connected to the network and are used to control the accumulation ring. The software system is based on the NODAL language devised at the CERN SPS. The KEK NODAL system retains main features of the original NODAL: the interpretive scheme, the multi-computer programming facility, and the data-module concept. In addition, it has the following features: (1) fast execution due to the compiler-interpreter method, (2) a multi-computer file system (3), a full-screen editing facility, and (4) a dynamic linkage scheme for data modules and NODAL functions. The accelerators are operated through five operator consoles, each of which is mangaged by one minicomputer in the network. An operator console contains two 20-inch high-resolution color graphic displays, a pair of touch-panels, and ten small TV monitors. One touch-panel is used to select a program and a piece of equipment to be controlled; the other is used mainly to perform the console actions. (orig.)

  4. neural control system

    International Nuclear Information System (INIS)

    Elshazly, A.A.E.

    2002-01-01

    Automatic power stabilization control is the desired objective for any reactor operation , especially, nuclear power plants. A major problem in this area is inevitable gap between a real plant ant the theory of conventional analysis and the synthesis of linear time invariant systems. in particular, the trajectory tracking control of a nonlinear plant is a class of problems in which the classical linear transfer function methods break down because no transfer function can represent the system over the entire operating region . there is a considerable amount of research on the model-inverse approach using feedback linearization technique. however, this method requires a prices plant model to implement the exact linearizing feedback, for nuclear reactor systems, this approach is not an easy task because of the uncertainty in the plant parameters and un-measurable state variables . therefore, artificial neural network (ANN) is used either in self-tuning control or in improving the conventional rule-based exper system.the main objective of this thesis is to suggest an ANN, based self-learning controller structure . this method is capable of on-line reinforcement learning and control for a nuclear reactor with a totally unknown dynamics model. previously, researches are based on back- propagation algorithm . back -propagation (BP), fast back -propagation (FBP), and levenberg-marquardt (LM), algorithms are discussed and compared for reinforcement learning. it is found that, LM algorithm is quite superior

  5. RHIC control system

    Energy Technology Data Exchange (ETDEWEB)

    Barton, D.S. E-mail: dsbarton@bnl.gov; Binello, S.; Buxton, W.; Clifford, T.; D' Ottavio, T.; Hartmann, H.; Hoff, L.T.; Katz, R.; Kennell, S.; Kerner, T.; Laster, J.; Lee, R.C.; Marusic, A.; Michnoff, R.; Morris, J.; Oerter, B.R.; Olsen, R.; Piacentino, J.; Skelly, J.F

    2003-03-01

    The RHIC control system architecture is hierarchical and consists of two physical layers with a fiber-optic network connection. The Front-End Level systems consist of VME chassis with processors running a real-time operating system and both VME I/O modules and remote bus interfaces. Accelerator device software interfaces are implemented as objects in C++. The network implementation uses high speed, switched Ethernet technology. Specialized hardware modules were built for waveform control of power supplies, multiplexed signal acquisition, and timing services. The Console Level systems are Unix workstations. A strong emphasis has been given to developing highly reusable, standard software tools for use in building physics and diagnostic application software.

  6. RHIC control system

    International Nuclear Information System (INIS)

    Barton, D.S.; Binello, S.; Buxton, W.; Clifford, T.; D'Ottavio, T.; Hartmann, H.; Hoff, L.T.; Katz, R.; Kennell, S.; Kerner, T.; Laster, J.; Lee, R.C.; Marusic, A.; Michnoff, R.; Morris, J.; Oerter, B.R.; Olsen, R.; Piacentino, J.; Skelly, J.F.

    2003-01-01

    The RHIC control system architecture is hierarchical and consists of two physical layers with a fiber-optic network connection. The Front-End Level systems consist of VME chassis with processors running a real-time operating system and both VME I/O modules and remote bus interfaces. Accelerator device software interfaces are implemented as objects in C++. The network implementation uses high speed, switched Ethernet technology. Specialized hardware modules were built for waveform control of power supplies, multiplexed signal acquisition, and timing services. The Console Level systems are Unix workstations. A strong emphasis has been given to developing highly reusable, standard software tools for use in building physics and diagnostic application software

  7. ZEUS hardware control system

    Science.gov (United States)

    Loveless, R.; Erhard, P.; Ficenec, J.; Gather, K.; Heath, G.; Iacovacci, M.; Kehres, J.; Mobayyen, M.; Notz, D.; Orr, R.; Orr, R.; Sephton, A.; Stroili, R.; Tokushuku, K.; Vogel, W.; Whitmore, J.; Wiggers, L.

    1989-12-01

    The ZEUS collaboration is building a system to monitor, control and document the hardware of the ZEUS detector. This system is based on a network of VAX computers and microprocessors connected via ethernet. The database for the hardware values will be ADAMO tables; the ethernet connection will be DECNET, TCP/IP, or RPC. Most of the documentation will also be kept in ADAMO tables for easy access by users.

  8. ZEUS hardware control system

    International Nuclear Information System (INIS)

    Loveless, R.; Erhard, P.; Ficenec, J.; Gather, K.; Heath, G.; Iacovacci, M.; Kehres, J.; Mobayyen, M.; Notz, D.; Orr, R.; Sephton, A.; Stroili, R.; Tokushuku, K.; Vogel, W.; Whitmore, J.; Wiggers, L.

    1989-01-01

    The ZEUS collaboration is building a system to monitor, control and document the hardware of the ZEUS detector. This system is based on a network of VAX computers and microprocessors connected via ethernet. The database for the hardware values will be ADAMO tables; the ethernet connection will be DECNET, TCP/IP, or RPC. Most of the documentation will also be kept in ADAMO tables for easy access by users. (orig.)

  9. Control of complex systems

    CERN Document Server

    Albertos, Pedro; Blanke, Mogens; Isidori, Alberto; Schaufelberger, Walter; Sanz, Ricardo

    2001-01-01

    The world of artificial systems is reaching complexity levels that es­ cape human understanding. Surface traffic, electricity distribution, air­ planes, mobile communications, etc. , are examples that demonstrate that we are running into problems that are beyond classical scientific or engi­ neering knowledge. There is an ongoing world-wide effort to understand these systems and develop models that can capture its behavior. The reason for this work is clear, if our lack of understanding deepens, we will lose our capability to control these systems and make they behave as we want. Researchers from many different fields are trying to understand and develop theories for complex man-made systems. This book presents re­ search from the perspective of control and systems theory. The book has grown out of activities in the research program Control of Complex Systems (COSY). The program has been sponsored by the Eu­ ropean Science Foundation (ESF) which for 25 years has been one of the leading players in stimula...

  10. HESYRL control system status

    International Nuclear Information System (INIS)

    Yao Chihyuan

    1992-01-01

    HESYRL synchrotron radiation storage ring was completed in 1989 and has been in commissioning since then. Now it has met its design specification and is ready for synchrotron light experiments. Control system of the project was completed in 1989 and some modifications were made during commissioning. This paper describes its present configuration, status and upgrading plan. (author)

  11. Fault Tolerant Control Systems

    DEFF Research Database (Denmark)

    Bøgh, S. A.

    This thesis considered the development of fault tolerant control systems. The focus was on the category of automated processes that do not necessarily comprise a high number of identical sensors and actuators to maintain safe operation, but still have a potential for improving immunity to component...

  12. Lighting Control Systems Handbook.

    Science.gov (United States)

    1985-06-01

    cost, both initial and operating. Initially, the control system designer must collect in- formation and then study and weigh several areas including...8217odLe 045. Pearl Harbor. III: Code 11 Pearl Harbor ar ho I ir I L ’ odk 402. R IYI& [’. Plearl II arbor I II: Li bra ry. Pearl HaIitrbor. I ai

  13. GLCTA control system

    International Nuclear Information System (INIS)

    Terunuma, N.; Hayano, H.; Higo, T.; Saeki, T.; Suehara, T.; Watanabe, K.

    2004-01-01

    Research and development for the high power X-band RF technologies have been performed on the GLC Test Accelerator, GLCTA, since fall of 2003. The control system of this facility is based on the PC-Linux servers that handle the CAMAC, VME and PLC modules. Automated RF processing and data accumulation of the RF breakdown have been performed. (author)

  14. Internet Congestion Control System

    Directory of Open Access Journals (Sweden)

    Pranoto Rusmin

    2010-10-01

    Full Text Available Internet congestion occurs when resource demands exceeds the network capacity. But, it is not the only reason. Congestion can happen on some users because some others user has higher sending rate. Then some users with lower sending rate will experience congestion. This partial congestion is caused by inexactly feedback. At this moment congestion are solved by the involvement of two controlling mechanisms. These mechanisms are flow/congestion control in the TCP source and Active Queue Management (AQM in the router. AQM will provide feedback to the source a kind of indication for the occurrence of the congestion in the router, whereas the source will adapt the sending rate appropriate with the feedback. These mechanisms are not enough to solve internet congestion problem completely. Therefore, this paper will explain internet congestion causes, weakness, and congestion control technique that researchers have been developed. To describe congestion system mechanisms and responses, the system will be simulated by Matlab.

  15. PEP computer control system

    International Nuclear Information System (INIS)

    1979-03-01

    This paper describes the design and performance of the computer system that will be used to control and monitor the PEP storage ring. Since the design is essentially complete and much of the system is operational, the system is described as it is expected to 1979. Section 1 of the paper describes the system hardware which includes the computer network, the CAMAC data I/O system, and the operator control consoles. Section 2 describes a collection of routines that provide general services to applications programs. These services include a graphics package, data base and data I/O programs, and a director programm for use in operator communication. Section 3 describes a collection of automatic and semi-automatic control programs, known as SCORE, that contain mathematical models of the ring lattice and are used to determine in real-time stable paths for changing beam configuration and energy and for orbit correction. Section 4 describes a collection of programs, known as CALI, that are used for calibration of ring elements

  16. The ISOLDE control system

    International Nuclear Information System (INIS)

    Deloose, I.; Pace, A.

    1994-01-01

    The two CERN isotope separators named ISOLDE have been running on the new Personal Computer (PC) based control system since April 1992. The new architecture that makes heavy use of the commercial software and hardware of the PC market has been implemented on the 1700 geographically distributed control channels of the two separators and their experimental area. Eleven MSDOS Intel-based PCs with approximately 80 acquisition and control boards are used to access the equipment and are controlled from three PCs running Microsoft Windows used as consoles through a Novell Local Area Network. This paper describes the interesting solutions found and discusses the reduced programming workload and costs that have been obtained. ((orig.))

  17. Dynamitron control systems

    International Nuclear Information System (INIS)

    Lisanti, Thomas F.

    2005-01-01

    The Dynamitron control system utilizes the latest personal computer technology in control circuitry and components. Both the DPC-2000 and newer Millennium series of control systems make use of their modular architecture in both software and hardware to keep up with customer and engineering demands. This also allows the main structure of the software to remain constant for the user while software drivers are easily changed as hardware demands are modified and improved. The system is presented as four units; the Remote I/O (Input/Output), Local Analog and Digital I/O, Operator Interface and the Main Computer. The operator is provided with a selection of many informative screen displays. The control program handles all graphic screen displays and the updating of these screens directly; it does not communicate to a display terminal. This adds to the quick response and excellent operator feedback received while operating the accelerator. The CPU also has the ability to store and record all process variable setpoints for each product that will be treated. All process parameters are printed to a report at regular intervals during a process run for record keeping

  18. Wireless Remote Control System

    Directory of Open Access Journals (Sweden)

    Adrian Tigauan

    2012-06-01

    Full Text Available This paper presents the design of a wireless remote control system based on the ZigBee communication protocol. Gathering data from sensors or performing control tasks through wireless communication is advantageous in situations in which the use of cables is impractical. An Atmega328 microcontroller (from slave device is used for gathering data from the sensors and transmitting it to a coordinator device with the help of the XBee modules. The ZigBee standard is suitable for low-cost, low-data-rate and low-power wireless networks implementations. The XBee-PRO module, designed to meet ZigBee standards, requires minimal power for reliable data exchange between devices over a distance of up to 1600m outdoors. A key component of the ZigBee protocol is the ability to support networking and this can be used in a wireless remote control system. This system may be employed e.g. to control temperature and humidity (SHT11 sensor and light intensity (TSL230 sensor levels inside a commercial greenhouse.

  19. Management control system description

    Energy Technology Data Exchange (ETDEWEB)

    Bence, P. J.

    1990-10-01

    This Management Control System (MCS) description describes the processes used to manage the cost and schedule of work performed by Westinghouse Hanford Company (Westinghouse Hanford) for the US Department of Energy, Richland Operations Office (DOE-RL), Richland, Washington. Westinghouse Hanford will maintain and use formal cost and schedule management control systems, as presented in this document, in performing work for the DOE-RL. This MCS description is a controlled document and will be modified or updated as required. This document must be approved by the DOE-RL; thereafter, any significant change will require DOE-RL concurrence. Westinghouse Hanford is the DOE-RL operations and engineering contractor at the Hanford Site. Activities associated with this contract (DE-AC06-87RL10930) include operating existing plant facilities, managing defined projects and programs, and planning future enhancements. This document is designed to comply with Section I-13 of the contract by providing a description of Westinghouse Hanford's cost and schedule control systems used in managing the above activities. 5 refs., 22 figs., 1 tab.

  20. Tele-operated search robot for human detection using histogram of oriented objects

    Science.gov (United States)

    Cruz, Febus Reidj G.; Avendaño, Glenn O.; Manlises, Cyrel O.; Avellanosa, James Jason G.; Abina, Jyacinth Camille F.; Masaquel, Albert M.; Siapno, Michael Lance O.; Chung, Wen-Yaw

    2017-02-01

    Disasters such as typhoons, tornadoes, and earthquakes are inevitable. Aftermaths of these disasters include the missing people. Using robots with human detection capabilities to locate the missing people, can dramatically reduce the harm and risk to those who work in such circumstances. This study aims to: design and build a tele-operated robot; implement in MATLAB an algorithm for the detection of humans; and create a database of human identification based on various positions, angles, light intensity, as well as distances from which humans will be identified. Different light intensities were made by using Photoshop to simulate smoke, dust and water drops conditions. After processing the image, the system can indicate either a human is detected or not detected. Testing with bodies covered was also conducted to test the algorithm's robustness. Based on the results, the algorithm can detect humans with full body shown. For upright and lying positions, detection can happen from 8 feet to 20 feet. For sitting position, detection can happen from 2 feet to 20 feet with slight variances in results because of different lighting conditions. The distances greater than 20 feet, no humans can be processed or false negatives can occur. For bodies covered, the algorithm can detect humans in cases made under given circumstances. On three positions, humans can be detected from 0 degrees to 180 degrees under normal, with smoke, with dust, and with water droplet conditions. This study was able to design and build a tele-operated robot with MATLAB algorithm that can detect humans with an overall precision of 88.30%, from which a database was created for human identification based on various conditions, where humans will be identified.

  1. Access control system operation

    International Nuclear Information System (INIS)

    Barnes, L.D.

    1981-06-01

    An automated method for the control and monitoring of personnel movement throughout the site was developed under contract to the Department of Energy by Allied-General Nuclear Services (AGNS) at the Barnwell Nuclear Fuel Plant (BNFP). These automated features provide strict enforcement of personnel access policy without routine patrol officer involvement. Identification methods include identification by employee ID number, identification by voice verification and identification by physical security officer verification. The ability to grant each level of access authority is distributed over the organization to prevent any single individual at any level in the organization from being capable of issuing an authorization for entry into sensitive areas. Each access event is recorded. As access events occur, the inventory of both the entered and the exited control area is updated so that a current inventory is always available for display. The system has been operated since 1979 in a development mode and many revisions have been implemented in hardware and software as areas were added to the system. Recent changes have involved the installation of backup systems and other features required to achieve a high reliability. The access control system and recent operating experience are described

  2. Task analysis of human-in-the-loop tele-operated maintenance: What can be learned from JET?

    International Nuclear Information System (INIS)

    Boessenkool, H.; Thomas, J.; Heemskerk, C.J.M.; Baar, M.R. de; Steinbuch, M.; Abbink, D.A.

    2014-01-01

    Highlights: •Maintenance task execution at JET was analyzed to guide improvements for ITER. •A large variation in task duration was found for various operator experience levels. •Results indicate significant room for improvement for tele-operated performance. •Improvent of visual feedback and artificial guiding forces was considered promising. -- Abstract: Remote maintenance will determine the available uptime of future fusion plants such as ITER. Experience at predecessor JET showed that a human-in-the-loop tele-operated approach is crucial, although this approach entails drawbacks such as the unavoidable extensive operator training and relatively long execution times. These drawbacks are common knowledge, but little quantitative research is available to guide improvements (such as improved training methods, or active operator support systems). The aim of this paper is to identify the key areas for further improvement of tele-operated maintenance. This is achieved by a detailed task analysis based on recent maintenance at JET, using task logbooks and video data as well as interviews with experienced master–slave operators. The resulting task analysis shows the (sub)tasks that were most time-consuming and shows a large variance in time performance within operators, but also substantial differences between qualified operators with different levels of experience. The operator interviews indicate that intuitive (virtual) visual feedback and artificial (guiding) forces are promising directions for improvement. The results found in this study will be used for future research and development activities focusing on haptic guiding strategies, with the aim to further design and optimize RH maintenance systems for ITER and beyond

  3. The COSY control system

    International Nuclear Information System (INIS)

    Bongers, N.; Hacker, U.; Henn, K.; Richert, A.; Simon, M.; Sobotta, K.; Stephan, M.; Vashegyi, T.; Weinert, A.

    1992-01-01

    The COSY control system architecture is organized strongly hierarchically with distributed intelligence and extensive use of standards. At the top level of computer control hardware work stations give the operator graphical access to the process. For these tasks Hewlett Packard HP 9000 Series 700 computers with HP-UX and X-Windows/Motif are in use. Also used as work-cells this RISC computers give computing power for model calculations and long term databases. This computers are interconnected using Ethernet and TCP/IP to the next layer of hardware. (author) 3 refs.; 5 figs

  4. The UNK control system

    International Nuclear Information System (INIS)

    Alferov, V.N.; Brook, V.L.; Dunaitsev, A.F.

    1992-01-01

    The IHEP proton Accelerating and Storage Complex (UNK) includes in its first stage a 400 GeV conventional and a 3000 GeV superconducting ring placed in the same underground tunnel of 20.7 km circumference. The beam will be injected into UNK from the existing 70 GeV accelerator U-70. The experimental programme which is planned to start in 1995, will include 3000 GeV fixed target and 400 + 3000 GeV colliding beams physics. The size and complexity of the UNK dictate a distributed multiprocessor architecture of the control system. About 4000 of 8/16 bit controllers, directly attached to the UNK equipment will perform low level control and data acquisition tasks. The equipment controllers will be connected via the MIL-1553 field bus to VME based 32-bit front end computers. The TCP/IP network will interconnect front end computers in the UNK equipment buildings with UNIX workstations and servers in the Main Control Room. The report presents the general architecture and current status of the UNK control. (author)

  5. Automatic heating control system

    Energy Technology Data Exchange (ETDEWEB)

    Whittle, A.J.

    1989-11-15

    A heating control system for buildings comprises at least one heater incorporating heat storage means, a first sensor for detecting temperature within the building, means for setting a demand temperature, a second sensor for detecting outside temperature, a timer, and means for determining the switch on time of the heat storage means on the basis of the demand temperature and the internal and external temperatures. The system may additionally base the switch on time of the storage heater(s) on the heating and cooling rates of the building (as determined from the sensed temperatures); or on the anticipated daytime temperature (determined from the sensed night time temperature). (author).

  6. Kinematics and Dynamics of Motion Control Based on Acceleration Control

    Science.gov (United States)

    Ohishi, Kiyoshi; Ohba, Yuzuru; Katsura, Seiichiro

    The first IEEE International Workshop on Advanced Motion Control was held in 1990 pointed out the importance of physical interpretation of motion control. The software servoing technology is now common in machine tools, robotics, and mechatronics. It has been intensively developed for the numerical control (NC) machines. Recently, motion control in unknown environment will be more and more important. Conventional motion control is not always suitable due to the lack of adaptive capability to the environment. A more sophisticated ability in motion control is necessary for compliant contact with environment. Acceleration control is the key technology of motion control in unknown environment. The acceleration control can make a motion system to be a zero control stiffness system without losing the robustness. Furthermore, a realization of multi-degree-of-freedom motion is necessary for future human assistance. A human assistant motion will require various control stiffness corresponding to the task. The review paper focuses on the modal coordinate system to integrate the various control stiffness in the virtual axes. A bilateral teleoperation is a good candidate to consider the future human assistant motion and integration of decentralized systems. Thus the paper reviews and discusses the bilateral teleoperation from the control stiffness and the modal control design points of view.

  7. Intelligent Lighting Control System

    OpenAIRE

    García, Elena; Rodríguez González, Sara; de Paz Santana, Juan F.; Bajo Pérez, Javier

    2014-01-01

    This paper presents an adaptive architecture that allows centralized control of public lighting and intelligent management, in order to economise on lighting and maintain maximum comfort status of the illuminated areas. To carry out this management, architecture merges various techniques of artificial intelligence (AI) and statistics such as artificial neural networks (ANN), multi-agent systems (MAS), EM algorithm, methods based on ANOVA and a Service Oriented Aproach (SOA). It performs optim...

  8. Ubiquitous Wireless Smart Sensing and Control

    Science.gov (United States)

    Wagner, Raymond

    2013-01-01

    Need new technologies to reliably and safely have humans interact within sensored environments (integrated user interfaces, physical and cognitive augmentation, training, and human-systems integration tools). Areas of focus include: radio frequency identification (RFID), motion tracking, wireless communication, wearable computing, adaptive training and decision support systems, and tele-operations. The challenge is developing effective, low cost/mass/volume/power integrated monitoring systems to assess and control system, environmental, and operator health; and accurately determining and controlling the physical, chemical, and biological environments of the areas and associated environmental control systems.

  9. Controlling chaotic systems via nonlinear feedback control

    International Nuclear Information System (INIS)

    Park, Ju H.

    2005-01-01

    In this article, a new method to control chaotic systems is proposed. Using Lyapunov method, we design a nonlinear feedback controller to make the controlled system be stabilized. A numerical example is given to illuminate the design procedure and advantage of the result derived

  10. A Discrete-Time Algorithm for Stiffness Extraction from sEMG and Its Application in Antidisturbance Teleoperation

    Directory of Open Access Journals (Sweden)

    Peidong Liang

    2016-01-01

    Full Text Available We have developed a new discrete-time algorithm of stiffness extraction from muscle surface electromyography (sEMG collected from human operator’s arms and have applied it for antidisturbance control in robot teleoperation. The variation of arm stiffness is estimated from sEMG signals and transferred to a telerobot under variable impedance control to imitate human motor control behaviours, particularly for disturbance attenuation. In comparison to the estimation of stiffness from sEMG, the proposed algorithm is able to reduce the nonlinear residual error effect and to enhance robustness and to simplify stiffness calibration. In order to extract a smoothing stiffness enveloping from sEMG signals, two enveloping methods are employed in this paper, namely, fast linear enveloping based on low pass filtering and moving average and amplitude monocomponent and frequency modulating (AM-FM method. Both methods have been incorporated into the proposed stiffness variance estimation algorithm and are extensively tested. The test results show that stiffness variation extraction based on the two methods is sensitive and robust to attenuation disturbance. It could potentially be applied for teleoperation in the presence of hazardous surroundings or human robot physical cooperation scenarios.

  11. NSLS control system upgrade

    International Nuclear Information System (INIS)

    Smith, J.D.; Ramamoorthy, Susila; Tang, Y.N.

    1994-01-01

    The NSLS consists of two storage rings, a booster and a linac. A major upgrade of the control system (installed in 1978) was undertaken and has been completed. The computer architecture is being changed from a three level star-network to a two level distributed system. The microprocessor subsystem, host computer and workstations, communication link and the main software components are being upgraded or replaced. Since the NSLS rings operate twenty four hours a day a year with minimum maintenance time, the key requirement during the upgrade phase is a non-disruptive transition with minimum downtime. Concurrent with the upgrade, some immediate improvements were required. This paper describes the various components of the upgraded system and outlines the future plans. ((orig.))

  12. NSLS control system upgrade

    International Nuclear Information System (INIS)

    Smith, J.D.; Ramamoorthy, S.; Tang, Yong N.

    1995-01-01

    The NSLS consists of two storage rings, a booster and a linac. A major upgrade of the control system (installed in 1978) was undertaken and has been completed. The computer architecture is being changed from a three level star-network to a two level distributed system. The microprocessor subsystem, host computer and workstations, communication link and the main software components are being upgraded or replaced. Since the NSLS rings operate twenty four hours a day a year with minimum maintenance time, the key requirement during the upgrade phase is a non-disruptive transition with minimum downtime. Concurrent with the upgrade, some immediate improvements were required. This paper describes the various components of the upgraded system and outlines the future plans

  13. Experience in the use of teleoperated robotic equipment in the Spanish Nuclear Power Plants (S.R.T. Project)

    International Nuclear Information System (INIS)

    Bielza, M.; Gomez, J.; Izquierdo, J.A.; Bercedo, A.; Espallardo, J.A.; Martinez, A.; Carmena, P.; Pascual, J.L.

    1998-01-01

    The main objective of the Teleoperated Robotic Systems project (SRT) is the development of teleoperated robotic systems for use in the inspection, surveillance and maintenance operations in nuclear and radioactive installations. These systems make possible the reduction of the individual and collective doses of the workers that undertake these operations, as well as an increase of plant availability as it is possible to carry out specific tasks of inspection and surveillance in high radiation dose areas without to reduce the power of the installation. This project started in 1995 deciding to priorize the inspection equipment in a first phase. As a result of this work currently several semi-industrial products are available: ROBCAR, ROBICEN y ANAES. These have been installed for testing and commercial operation in Spanish nuclear installations. In this paper the experience of using these prototypes in the S.M. de Garona and Cofrentes nuclear power plants is described, as well as the improvements in the design of these systems derived from these experiences that have been incorporated to the industrial prototypes that are currently in the last phase of development. (Author)

  14. Incoherent control of locally controllable quantum systems

    International Nuclear Information System (INIS)

    Dong Daoyi; Zhang Chenbin; Rabitz, Herschel; Pechen, Alexander; Tarn, T.-J.

    2008-01-01

    An incoherent control scheme for state control of locally controllable quantum systems is proposed. This scheme includes three steps: (1) amplitude amplification of the initial state by a suitable unitary transformation, (2) projective measurement of the amplified state, and (3) final optimization by a unitary controlled transformation. The first step increases the amplitudes of some desired eigenstates and the corresponding probability of observing these eigenstates, the second step projects, with high probability, the amplified state into a desired eigenstate, and the last step steers this eigenstate into the target state. Within this scheme, two control algorithms are presented for two classes of quantum systems. As an example, the incoherent control scheme is applied to the control of a hydrogen atom by an external field. The results support the suggestion that projective measurements can serve as an effective control and local controllability information can be used to design control laws for quantum systems. Thus, this scheme establishes a subtle connection between control design and controllability analysis of quantum systems and provides an effective engineering approach in controlling quantum systems with partial controllability information.

  15. Crawling the Control System

    International Nuclear Information System (INIS)

    Larrieu, Theodore

    2009-01-01

    Information about accelerator operations and the control system resides in various formats in a variety of places on the lab network. There are operating procedures, technical notes, engineering drawings, and other formal controlled documents. There are programmer references and API documentation generated by tools such as doxygen and javadoc. There are the thousands of electronic records generated by and stored in databases and applications such as electronic logbooks, training materials, wikis, and bulletin boards and the contents of text-based configuration files and log files that can also be valuable sources of information. The obvious way to aggregate all these sources is to index them with a search engine that users can then query from a web browser. Toward this end, the Google 'mini' search appliance was selected and implemented because of its low cost and its simple web-based configuration and management. In addition to crawling and indexing electronic documents, the appliance provides an API that has been used to supplement search results with live control system data such as current values of EPICS process variables and graphs of recent data from the archiver.

  16. Radiation control system

    International Nuclear Information System (INIS)

    Murao, Mitsuo.

    1985-01-01

    Purpose: To rapidly and suitably performing planning and designation by radiation-working control systems in the radiation controlled area of nuclear power plant. Method: Various informations regarding radiation exposure are arranged and actual exposure data are statistically stored, to thereby perform forecasting calculation for the radiation exposure upon workings in the plurality of working regions in the radiation controlled area. Based on the forecast values and the registered workers' exposure dose in the past workings are alocated successively such that the total exposure does upon conducting the workings is less than the limited value, to prepare working plans in the areas. Further, procedures for preparing a series of documents regarding the workings in the radiation area are automated to rapidly and properly provide the informations serving to the planning and designation for the radiation workings. As a result, the radiation managers' burnden can be mitigated and an efficient working management system can be provided, in view of the exposure management and personal management. (Kamimura, M.)

  17. Control of optical systems

    Science.gov (United States)

    Founds, D.

    1988-01-01

    Some of the current and planned activities at the Air Force Systems Command in structures and controls for optical-type systems are summarized. Many of the activities are contracted to industry; one task is an in-house program which includes a hardware test program. The objective of the in-house program, referred to as the Aluminum Beam Expander Structure (ABES), is to address issues involved in on-orbit system identification. The structure, which appears similar to the LDR backup structure, is about 35 feet tall. The activity to date has been limited to acquisition of about 250 hours of test data. About 30 hours of data per excitation force is gathered in order to obtain sufficient data for a good statistical estimate of the structural parameters. The development of an Integrated Structural Modeling (ISM) computer program is being done by Boeing Aerospace Company. The objective of the contracted effort is to develop a combined optics, structures, thermal, controls, and multibody dynamics simulation code.

  18. Feedwater control system

    International Nuclear Information System (INIS)

    Cook, B.M.

    1982-01-01

    Excessive swing of the feedwater in nuclear reactor power supply apparatus on the occurrence of a transient is suppressed by injecting an anticipatory compensating signal (δWsub(fw)) into the control for the feedwater. Typical overshoot occurs on removal of a large part of the load, the steam flow is reduced so that the conventional control system reduces the flow of feedwater. At the same time there is a reduction of feedwater level in the steam generator because of the collapse of the bubbles under increased steam pressure. By the time the control responds to the drop in level, the apparatus has begun to stabilize so that there is overshoot. The anticipatory signal is derived from the boiling power (BP) which is a function of the nuclear power (Qsub(N)) developed, the enthalpy of saturated water (hsub(s)) and the enthalpy of the feedwater injected into the steam generator (hsub(fw)). From the boiling power (BP) and the increment in steam pressure resulting from the transient an anticipatory increment of feedwater flow is derived. This increment is added to the other parameters controlling the feedwater. (author)

  19. Teleoperated mobile robot (KAEROT) for inspection in nuclear facilities

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Byung-Soo; Kim, Chang-Hoi; Hwang, Suk-Young; Kim, Seung-Ho; Lee, Jong-Min [Korea Atomic Energy Research Inst., Taejon (Korea, Republic of)

    1994-12-31

    A teleoperated mobile robot, named as KAEROT, has been developed for inspection and maintenance in nuclear facilities. It is composed of the planetary wheel-type mobile unit and 5 DOF manipulator one. The mobile unit is able to climb up and down stairs with high stability. This paper presents the kinematic analysis of KAEROT and the stair climbing algorithm. The proposed algorithm consists of two parts; one is to generate the moving path, and the other is to calculate the angular velocity of each wheel to follow up the generated reference path. Simulations and experiments on the irregular stairs have been carried out with the developed mobile robot. The proposed algorithm is proved to be very effective for inspection in nuclear facilities. The inclination angle of robot is maintained below 30.8deg while it is climbing up the stairs of a slope of 25deg. (author).

  20. Teleoperated mobile robot (KAEROT) for inspection in nuclear facilities

    International Nuclear Information System (INIS)

    Kim, Byung-Soo; Kim, Chang-Hoi; Hwang, Suk-Young; Kim, Seung-Ho; Lee, Jong-Min

    1994-01-01

    A teleoperated mobile robot, named as KAEROT, has been developed for inspection and maintenance in nuclear facilities. It is composed of the planetary wheel-type mobile unit and 5 DOF manipulator one. The mobile unit is able to climb up and down stairs with high stability. This paper presents the kinematic analysis of KAEROT and the stair climbing algorithm. The proposed algorithm consists of two parts; one is to generate the moving path, and the other is to calculate the angular velocity of each wheel to follow up the generated reference path. Simulations and experiments on the irregular stairs have been carried out with the developed mobile robot. The proposed algorithm is proved to be very effective for inspection in nuclear facilities. The inclination angle of robot is maintained below 30.8deg while it is climbing up the stairs of a slope of 25deg. (author)

  1. Phase Control in Nonlinear Systems

    Science.gov (United States)

    Zambrano, Samuel; Seoane, Jesús M.; Mariño, Inés P.; Sanjuán, Miguel A. F.; Meucci, Riccardo

    The following sections are included: * Introduction * Phase Control of Chaos * Description of the model * Numerical exploration of phase control of chaos * Experimental evidence of phase control of chaos * Phase Control of Intermittency in Dynamical Systems * Crisis-induced intermittency and its control * Experimental setup and implementation of the phase control scheme * Phase control of the laser in the pre-crisis regime * Phase control of the intermittency after the crisis * Phase control of the intermittency in the quadratic map * Phase Control of Escapes in Open Dynamical Systems * Control of open dynamical systems * Model description * Numerical simulations and heuristic arguments * Experimental implementation in an electronic circuit * Conclusions and Discussions * Acknowledgments * References

  2. PEP instrumentation and control system

    Energy Technology Data Exchange (ETDEWEB)

    Melen, R.

    1980-06-01

    This paper describes the operating characteristics of the primary components that form the PEP Instrumentation and Control System. Descriptions are provided for the computer control system, beam monitors, and other support systems.

  3. PEP instrumentation and control system

    International Nuclear Information System (INIS)

    Melen, R.

    1980-06-01

    This paper describes the operating characteristics of the primary components that form the PEP Instrumentation and Control System. Descriptions are provided for the computer control system, beam monitors, and other support systems

  4. Duty cycle testing and performance evaluation of the SM-229 teleoperator

    International Nuclear Information System (INIS)

    Stoughton, R.S.; Kuban, D.P.

    1985-11-01

    This paper contains the first known experimental studies and analyses of teleoperator performance for specific duty cycles. The results are presented in two distinct areas as position usage patterns, and as three-dimensional power grids. The position usage patterns are a valuable means to assess the available motion range. The power grids are a unique concept for evaluating joint performance. Final conclusions contain recommendations to upgrade the teleoperator for optimum performance. 3 refs., 16 figs

  5. Immersive Virtual Reality with Applications to Tele-Operation and Training

    Science.gov (United States)

    2016-03-07

    reviewed journals : Number of Papers published in non peer-reviewed journals : Final Report: Immersive Virtual Reality with Applications to Tele-Operation... Immersive Virtual Reality with Applications to Tele-Operation and Training The proposed project aims to develop a fundamental framework for...establishing an immersive virtual reality environment for robust and scalable human robotics interaction in a cooperative intelligent architecture at the

  6. Virtual reality and telepresence control of robots used in hazardous environments

    International Nuclear Information System (INIS)

    Bronisz, L.E.; Pittman, P.C.

    1996-01-01

    The purpose of this project was to explore the application of teleoperation and telepresence control to robots in hazardous environments at Los Alamos. The primary use of this technology would be in a glove-box type operation potentially allowing operators to work on hazardous materials while being completely removed from the danger of exposure in situations that are difficult to completely automate due to the highly unstructured environments or off-normal conditions. This project focused on determining the most appropriate tools and methods that could be applied in the near future resulting in a reasonably inexpensive working teleoperation or telepresence control system for industrial robots used in the handling of hazardous materials. Several topics had to be addressed to perform this task including input devices, control systems, robot manipulators, and simulation techniques or packages. Much of the work is still in the developmental stage and hardware will follow -- providing a usable tool for glove box robot control

  7. Bio-Inspired Control of an Arm Exoskeleton Joint with Active-Compliant Actuation System

    Directory of Open Access Journals (Sweden)

    Michele Folgheraiter

    2009-01-01

    Full Text Available This paper presents the methodology followed on the design of a multi-contact point haptic interface that uses a bio-inspired control approach and a novel actuation system. The combination of these components aims at creating a system that increases the operability of the target, and, at the same time, enables an intuitive and safe tele-operation of any complex robotic system of any given morphology. The novelty lies on the combination of a thoughtful kinematic structure driven by an active-compliant actuation system and a bio-inspired paradigm for its regulation. Due to the proposed actuation approach, the final system will achieve the condition of wearable system. On that final solution, each joint will be able to change its stiffness depending on the task to be executed, and on the anatomical features of each individual. Moreover, the system provides a variety of safety mechanisms at different levels to prevent causing any harm to the operator. In future, the system should allow the complete virtual immersion of the user within the working scenario.

  8. Environmental Control System Development

    Science.gov (United States)

    Flores Arroyo, Elvin A.

    2018-01-01

    Since before the first men landed on the moon, human beings have aspired to reach farther into space, to discover and answer the great mysteries that exist beyond imagination. To reach where no one has gone before. To able to see all the wonderful things that can be found in space and that only satellites have revealed to us during all this time. Considering the last trip to the moon, mankind has been evolving and improving their technology to reach destinations whose distances had been impossible to transit. To reach that goal, the National Aeronautics and Space Administration (NASA) has designed and developed the largest and most powerful rocket ever created by the human race, the Space Launch System - better known as the SLS. To be able to send this large rocket to space, Kennedy Space Center (KSC) is doing upgrades to their existing facilities and equipment. At Launch Pad 39B, they are setting up a new Environmental Control System (ECS) developed to supply the rocket with the correct gases and mixtures that will be needed for the rocket to launch. The ECS is similar to an air conditioning unit. The main functionality of it is to supply the SLS with the correct gas mixture for it to launch. Also the ECS has been required to reduce or eliminate the possibility of a complete system failure. The system is part of the Ground Support Equipment (GSE) for the SLS that will be going to the Moon and Mars.

  9. Automatically controlled training systems

    International Nuclear Information System (INIS)

    Milashenko, A.; Afanasiev, A.

    1990-01-01

    This paper reports that the computer system for NPP personnel training was developed for training centers in the Soviet Union. The system should be considered as the first step in training, taking into account that further steps are to be devoted to part-task and full scope simulator training. The training room consists of 8-12 IBM PC/AT personal computers combined into a network. A trainee accesses the system in a dialor manner. Software enables the instructor to determine the trainee's progress in different subjects of the program. The quality of any trainee preparedness may be evaluated by Knowledge Control operation. Simplified dynamic models are adopted for separate areas of the program. For example, the system of neutron flux monitoring has a dedicated model. Currently, training, requalification and support of professional qualifications of nuclear power plant operators is being emphasized. A significant number of emergency situations during work are occurring due to operator errors. Based on data from September-October 1989, more than half of all unplanned drops in power and stoppages of power plants were due to operator error. As a comparison, problems due to equipment malfunction accounted for no more than a third of the total. The role of personnel, especially of the operators, is significant during normal operations, since energy production costs as well as losses are influenced by the capability of the staff. These facts all point to the importance of quality training of personnel

  10. The development of Windows based control system for the tele-robotics

    International Nuclear Information System (INIS)

    Kim, Byung Soo; Kim, Seung Ho; Seo, Yong Chil; Kim, Ki Ho; Hwang, Suk Yeoung; Kim, Chang Hoi; Jung, Seung Ho; Lee, Young Kwang

    1998-03-01

    The WSCS (Windows-based Supervisory Control System) has been developed for the efficient control of the mobile robot in the hazardous area, such as reactor surroundings of HPWR (Heavy Pressurized Water Reactor). The WSCS is basically computer program which consists windows menu-program, socket-based communication program, force reflection joystick program, and OpenGL-based 3D graphic program. Also, the WSCS includes the force control algorithm of a master control device ( in this case, joystick) for the enhanced operability. To evaluate the effectiveness of the designed WSCS and the force reflection control algorithm, a series of experiments has been made in such a way that human operators command the desired motion of robot by manipulating the joystick in the virtual environment. As a result, it was proven that the designed WSCS is very easy-to-use and effective. Also, the developed force reflection algorithm is more efficient than that of general tele-operation, even though there are some difference in human dexterity. In near future, the WSCS will be applied in the next version of KAEROT. (author). 11 refs., 14 tabs., 1 fig

  11. Generic device controller for accelerator control systems

    International Nuclear Information System (INIS)

    Mariotti, R.; Buxton, W.; Frankel, R.; Hoff, L.

    1987-01-01

    Distributed intelligence for accelerator control systems has become possible as a result of advances in microprocessor technology. A system based on distributed intelligence is inherently versatile, readily expandable, and reduces both information flow across the system and software complexity in each unit

  12. Coordination control of distributed systems

    CERN Document Server

    Villa, Tiziano

    2015-01-01

    This book describes how control of distributed systems can be advanced by an integration of control, communication, and computation. The global control objectives are met by judicious combinations of local and nonlocal observations taking advantage of various forms of communication exchanges between distributed controllers. Control architectures are considered according to  increasing degrees of cooperation of local controllers:  fully distributed or decentralized controlcontrol with communication between controllers,  coordination control, and multilevel control.  The book covers also topics bridging computer science, communication, and control, like communication for control of networks, average consensus for distributed systems, and modeling and verification of discrete and of hybrid systems. Examples and case studies are introduced in the first part of the text and developed throughout the book. They include: control of underwater vehicles, automated-guided vehicles on a container terminal, contro...

  13. Division 1137 property control system

    Energy Technology Data Exchange (ETDEWEB)

    Pastor, D.J.

    1982-01-01

    An automated data processing property control system was developed by Mobile and Remote Range Division 1137. This report describes the operation of the system and examines ways of using it in operational planning and control.

  14. Generic device controller for accelerator control systems

    International Nuclear Information System (INIS)

    Mariotti, R.; Buxton, W.; Frankel, R.; Hoff, L.

    1987-01-01

    A new distributed intelligence control system has become operational at the AGS for transport, injection, and acceleration of heavy ions. A brief description of the functionality of the physical devices making up the system is given. An attempt has been made to integrate the devices for accelerator specific interfacing into a standard microprocessor system, namely, the Universal Device Controller (UDC). The main goals for such a generic device controller are to provide: local computing power; flexibility to configure; and real time event handling. The UDC assemblies and software are described

  15. On Restructurable Control System Theory

    Science.gov (United States)

    Athans, M.

    1983-01-01

    The state of stochastic system and control theory as it impacts restructurable control issues is addressed. The multivariable characteristics of the control problem are addressed. The failure detection/identification problem is discussed as a multi-hypothesis testing problem. Control strategy reconfiguration, static multivariable controls, static failure hypothesis testing, dynamic multivariable controls, fault-tolerant control theory, dynamic hypothesis testing, generalized likelihood ratio (GLR) methods, and adaptive control are discussed.

  16. Hybrid spacecraft attitude control system

    OpenAIRE

    Renuganth Varatharajoo; Ramly Ajir; Tamizi Ahmad

    2016-01-01

    The hybrid subsystem design could be an attractive approach for futurespacecraft to cope with their demands. The idea of combining theconventional Attitude Control System and the Electrical Power System ispresented in this article. The Combined Energy and Attitude ControlSystem (CEACS) consisting of a double counter rotating flywheel assemblyis investigated for small satellites in this article. Another hybrid systemincorporating the conventional Attitude Control System into the ThermalControl...

  17. A system-level approach to automation research

    Science.gov (United States)

    Harrison, F. W.; Orlando, N. E.

    1984-01-01

    Automation is the application of self-regulating mechanical and electronic devices to processes that can be accomplished with the human organs of perception, decision, and actuation. The successful application of automation to a system process should reduce man/system interaction and the perceived complexity of the system, or should increase affordability, productivity, quality control, and safety. The expense, time constraints, and risk factors associated with extravehicular activities have led the Automation Technology Branch (ATB), as part of the NASA Automation Research and Technology Program, to investigate the use of robots and teleoperators as automation aids in the context of space operations. The ATB program addresses three major areas: (1) basic research in autonomous operations, (2) human factors research on man-machine interfaces with remote systems, and (3) the integration and analysis of automated systems. This paper reviews the current ATB research in the area of robotics and teleoperators.

  18. Characterization of gradient control systems

    NARCIS (Netherlands)

    Cortés, Jorge; van der Schaft, Arjan; Crouch, Peter E.

    2005-01-01

    Given a general nonlinear affine control system with outputs and a torsion-free affine connection defined on its state space, we investigate the gradient realization problem: we give necessary and sufficient conditions under which the control system can be written as a gradient control system

  19. Characterization of Gradient Control Systems

    NARCIS (Netherlands)

    Cortés, Jorge; Schaft, Arjan van der; Crouch, Peter E.

    2005-01-01

    Given a general nonlinear affine control system with outputs and a torsion-free affine connection defined on its state space, we investigate the gradient realization problem: we give necessary and sufficient conditions under which the control system can be written as a gradient control system

  20. Design and control of MR haptic master/slave robot system for minimally invasive surgery

    Science.gov (United States)

    Uhm, Chang-Ho; Nguyen, Phoung Bac; Choi, Seung-Bok

    2013-04-01

    In this work, magnetorheological (MR) haptic master and slave robot for minimally invasive surgery (MIS) have been designed and tested. The proposed haptic master consists of four actuators; three MR brakes featuring gimbal structure for 3-DOF rotation motion(X, Y and Z axes) and one MR linear actuator for 1-DOF translational motion. The proposed slave robot which is connected with the haptic master has vertically multi- joints, and it consists of four DC servomotors; three for positioning endoscope and one for spinning motion. We added a fixed bar with a ball joint on the base of the slave for the endoscope position at the patient's abdomen to maintain safety. A gimbal structure at the end of the slave robotic arm for the last joint rotates freely with respect to the pivot point of the fixed bar. This master-slave system runs as if a teleoperation system through TCP/IP connection, programmed by LabVIEW. In order to achieve the desired position trajectory, a proportional-integral-derivative (PID) controller is designed and implemented. It has been demonstrated that the effective tracking control performances for the desired motion are well achieved and presented in time domain. At last, an experiment in virtual environments is undertaken to investigate the effectiveness of the MR haptic master device for MIS system.

  1. Networked control of microgrid system of systems

    Science.gov (United States)

    Mahmoud, Magdi S.; Rahman, Mohamed Saif Ur; AL-Sunni, Fouad M.

    2016-08-01

    The microgrid has made its mark in distributed generation and has attracted widespread research. However, microgrid is a complex system which needs to be viewed from an intelligent system of systems perspective. In this paper, a network control system of systems is designed for the islanded microgrid system consisting of three distributed generation units as three subsystems supplying a load. The controller stabilises the microgrid system in the presence of communication infractions such as packet dropouts and delays. Simulation results are included to elucidate the effectiveness of the proposed control strategy.

  2. Covariance upperbound controllers for networked control systems

    International Nuclear Information System (INIS)

    Ko, Sang Ho

    2012-01-01

    This paper deals with designing covariance upperbound controllers for a linear system that can be used in a networked control environment in which control laws are calculated in a remote controller and transmitted through a shared communication link to the plant. In order to compensate for possible packet losses during the transmission, two different techniques are often employed: the zero-input and the hold-input strategy. These use zero input and the latest control input, respectively, when a packet is lost. For each strategy, we synthesize a class of output covariance upperbound controllers for a given covariance upperbound and a packet loss probability. Existence conditions of the covariance upperbound controller are also provided for each strategy. Through numerical examples, performance of the two strategies is compared in terms of feasibility of implementing the controllers

  3. Entry-Control Systems Handbook

    International Nuclear Information System (INIS)

    1978-09-01

    The function of an entry-control system in a total Physical Protection System is to allow the movement of authorized personnel and material through normal access routes, yet detect and delay unauthorized movement of personnel and material from uncontrolled areas. The ten chapters of this handbook cover: introduction, credentials, personnel identity verification systems, special nuclear materials monitors, metal detectors, explosives sensors, package search systems, criteria for selection of entry-control equipment, machine-aided manual entry-control systems, and automated entry-control systems. A system example and its cost are included as an appendix

  4. Design, Modelling and Teleoperation of a 2 mm Diameter Compliant Instrument for the da Vinci Platform.

    Science.gov (United States)

    Francis, P; Eastwood, K W; Bodani, V; Looi, T; Drake, J M

    2018-05-07

    This work explores the feasibility of creating and accurately controlling an instrument for robotic surgery with a 2 mm diameter and a three degree-of-freedom (DoF) wrist which is compatible with the da Vinci platform. The instrument's wrist is composed of a two DoF bending notched-nitinol tube pattern, for which a kinematic model has been developed. A base mechanism for controlling the wrist is designed for integration with the da Vinci Research Kit. A basic teleoperation task is successfully performed using two of the miniature instruments. The performance and accuracy of the instrument suggest that creating and accurately controlling a 2 mm diameter instrument is feasible and the design and modelling proposed in this work provide a basis for future miniature instrument development.

  5. VOC emissions control systems

    International Nuclear Information System (INIS)

    Spessard, J.E.

    1993-01-01

    The air pollution control equipment marketplace offers many competing technologies for controlling emissions of volatile organic compounds (VOC) in air. If any technology was economically and technically superior under all conditions, it would be the only one on the market. In fact, each technology used to control VOCs is superior under some set of conditions. The reasons for choosing one control technology over another are situation-specific. Some general guidelines to VOC control technologies and the situations where each may be appropriate are presented in this article. The control technologies and applications are summarized in a table

  6. Proceedings of the international topical meeting on advances in human factors in nuclear power systems

    International Nuclear Information System (INIS)

    Anon.

    1986-01-01

    This book presents the papers given at a conference on the human factors engineering of nuclear power plants. Topics considered at the conference included human modeling, artificial intelligence, expert systems, robotics and teleoperations, organizational issues, innovative applications, testing and evaluation, training systems technology, a modeling framework for crew decisions during reactor accident sequences, intelligent operator support systems, control algorithms for robot navigation, and personnel management

  7. Systems and Control Engineering

    Indian Academy of Sciences (India)

    activities directed towards the students and the general public. Designed .... attention has been directed towards the use of control and automation to mitigate the effects of those ... The history of automatic control can be divided into four main.

  8. System for controlling apnea

    Science.gov (United States)

    Holzrichter, John F

    2015-05-05

    An implanted stimulation device or air control device are activated by an external radar-like sensor for controlling apnea. The radar-like sensor senses the closure of the air flow cavity, and associated control circuitry signals (1) a stimulator to cause muscles to open the air passage way that is closing or closed or (2) an air control device to open the air passage way that is closing or closed.

  9. SRS control system upgrade requirements

    International Nuclear Information System (INIS)

    Hill, L.F.

    1998-01-01

    This document defines requirements for an upgrade of the Sodium Removal System (SRS) control system. The upgrade is being performed to solve a number of maintainability and operability issues. The upgraded system will provide the same functions, controls and interlocks as the present system, and in addition provide enhanced functionality in areas discussed in this document

  10. Expert systems in process control systems

    International Nuclear Information System (INIS)

    Wittig, T.

    1987-01-01

    To illustrate where the fundamental difference between expert systems in classical diagnosis and in industrial control lie, the work of process control instrumentation is used as an example for the job of expert systems. Starting from the general process of problem-solving, two classes of expert systems can be defined accordingly. (orig.) [de

  11. Robotic 4D ultrasound solution for real-time visualization and teleoperation

    Directory of Open Access Journals (Sweden)

    Al-Badri Mohammed

    2017-09-01

    Full Text Available Automation of the image acquisition process via robotic solutions offer a large leap towards resolving ultrasound’s user-dependency. This paper, as part of a larger project aimed to develop a multipurpose 4d-ultrasonic force-sensitive robot for medical applications, focuses on achieving real-time remote visualisation for 4d ultrasound image transfer. This was possible through implementing our software modification on a GE Vivid 7 Dimension workstation, which operates a matrix array probe controlled by a KUKA LBR iiwa 7 7-DOF robotic arm. With the help of robotic positioning and the matrix array probe, fast volumetric imaging of target regions was feasible. By testing ultrasound volumes, which were roughly 880 kB in size, while using gigabit Ethernet connection, a latency of ∼57 ms was achievable for volume transfer between the ultrasound station and a remote client application, which as a result allows a frame count of 17.4 fps. Our modification thus offers for the first time real-time remote visualization, recording and control of 4d ultrasound data, which can be implemented in teleoperation.

  12. An operator training simulator based on interactive virtual teleoperation: nuclear facilities maintenance applications

    International Nuclear Information System (INIS)

    Kim, Ki Ho; Kim, Seung Ho

    1997-01-01

    Remote manipulation in nuclear hazardous environment is very often complex and difficult to operate and requires excessively careful preparation. Remote slave manipulators for unstructured work are manually controlled by a human operator. Small errors made by the operator via the master manipulator during operation can cause the slave to be surffered from excessive forces and result in considerable damages to the slave iteself and its environment. In this paper, we present a prototype of an operator training simulator for use in nuclear facilities maintenance applications, as part of the ongoing Nuclear Robotics Development Program at Korea Atomic Energy Research Institute (KAERI). The operator training simulator provides a means by which, in virtual task simulation, the operator can try out and train for expected remote tasks that the real slave manipulator will perform in advance. The operator interacts with both the virtual slave and task environment through the real master. Virtual interaction force feedback is provided to the operator. We also describe a man-in-the loop control scheme to realize bilateral force reflection in virtual teleoperation

  13. Modernization of control system using the digital control system

    International Nuclear Information System (INIS)

    Carrasco, J. A.; Fernandez, L.; Jimenez, A.

    2002-01-01

    Nowadays, all plant automation tendencies are based on the use of Digital Control System. In big industrial plants the control systems employed are Distributed Control Systems (DCS). The addition of these systems in nuclear power plants,implies an important adaptation process, because most of them were installed using analog control systems. This paper presents the objectives and the first results obtained, in a modernization project, focused in obtaining an engineering platform for making test and analysis of changes prior to their implementation in a nuclear plant. Modernization, Upgrade, DCS, Automation, Simulation, Training. (Author)

  14. Distributed systems status and control

    Science.gov (United States)

    Kreidler, David; Vickers, David

    1990-01-01

    Concepts are investigated for an automated status and control system for a distributed processing environment. System characteristics, data requirements for health assessment, data acquisition methods, system diagnosis methods and control methods were investigated in an attempt to determine the high-level requirements for a system which can be used to assess the health of a distributed processing system and implement control procedures to maintain an accepted level of health for the system. A potential concept for automated status and control includes the use of expert system techniques to assess the health of the system, detect and diagnose faults, and initiate or recommend actions to correct the faults. Therefore, this research included the investigation of methods by which expert systems were developed for real-time environments and distributed systems. The focus is on the features required by real-time expert systems and the tools available to develop real-time expert systems.

  15. Upgrading the BEPC control system

    International Nuclear Information System (INIS)

    Yang Liping; Wang Lizheng; Liu Shiyao

    1992-01-01

    The BEPC control system has been put into operation and operated normally since the end of 1987. Three years's experience shows this system can satisfy basically the operation requirements, also exhibits some disadvantages araised from the original centralized system architecture based on the VAX-VCC-CAMAC, such as slow response, bottle neck of VCC, less CPU power for control etc.. This paper describes the method and procedure for upgrading the BEPC control system which will be based on DEC net and DEC-WS, and thus intend to upgrade the control system architecture from the centralized to the distributed and improve the integral system performance. (author)

  16. SPring-8 beamline control system.

    Science.gov (United States)

    Ohata, T; Konishi, H; Kimura, H; Furukawa, Y; Tamasaku, K; Nakatani, T; Tanabe, T; Matsumoto, N; Ishii, M; Ishikawa, T

    1998-05-01

    The SPring-8 beamline control system is now taking part in the control of the insertion device (ID), front end, beam transportation channel and all interlock systems of the beamline: it will supply a highly standardized environment of apparatus control for collaborative researchers. In particular, ID operation is very important in a third-generation synchrotron light source facility. It is also very important to consider the security system because the ID is part of the storage ring and is therefore governed by the synchrotron ring control system. The progress of computer networking systems and the technology of security control require the development of a highly flexible control system. An interlock system that is independent of the control system has increased the reliability. For the beamline control system the so-called standard model concept has been adopted. VME-bus (VME) is used as the front-end control system and a UNIX workstation as the operator console. CPU boards of the VME-bus are RISC processor-based board computers operated by a LynxOS-based HP-RT real-time operating system. The workstation and the VME are linked to each other by a network, and form the distributed system. The HP 9000/700 series with HP-UX and the HP 9000/743rt series with HP-RT are used. All the controllable apparatus may be operated from any workstation.

  17. Hybrid spacecraft attitude control system

    Directory of Open Access Journals (Sweden)

    Renuganth Varatharajoo

    2016-02-01

    Full Text Available The hybrid subsystem design could be an attractive approach for futurespacecraft to cope with their demands. The idea of combining theconventional Attitude Control System and the Electrical Power System ispresented in this article. The Combined Energy and Attitude ControlSystem (CEACS consisting of a double counter rotating flywheel assemblyis investigated for small satellites in this article. Another hybrid systemincorporating the conventional Attitude Control System into the ThermalControl System forming the Combined Attitude and Thermal ControlSystem (CATCS consisting of a "fluid wheel" and permanent magnets isalso investigated for small satellites herein. The governing equationsdescribing both these novel hybrid subsystems are presented and theironboard architectures are numerically tested. Both the investigated novelhybrid spacecraft subsystems comply with the reference missionrequirements.The hybrid subsystem design could be an attractive approach for futurespacecraft to cope with their demands. The idea of combining theconventional Attitude Control System and the Electrical Power System ispresented in this article. The Combined Energy and Attitude ControlSystem (CEACS consisting of a double counter rotating flywheel assemblyis investigated for small satellites in this article. Another hybrid systemincorporating the conventional Attitude Control System into the ThermalControl System forming the Combined Attitude and Thermal ControlSystem (CATCS consisting of a "fluid wheel" and permanent magnets isalso investigated for small satellites herein. The governing equationsdescribing both these novel hybrid subsystems are presented and theironboard architectures are numerically tested. Both the investigated novelhybrid spacecraft subsystems comply with the reference missionrequirements.

  18. Diagnostic, reliablility and control systems

    CERN Document Server

    Leondes

    2014-01-01

    1. Explicit-Model-Based Fault Detection Method in Industrial Plants 2. Soft Sensor: An Effective Approach to Improve Control 3. Techniques in Soft Computing and Their Utilization in Mechatronic Products 4. Techniques in the Control of Interconnected Plants 5. A Mechatronic Systems Approach to Controlling Robotic Systems with Actuator Dynamics 6. Process and Control Design for Fast Coordinate Measuring Machines 7. Techniques in the Stability of Mechatronic Systems with Sensor or Actuator Failure.

  19. Human-factors-based implementation of the remote characterization system high-level control station

    International Nuclear Information System (INIS)

    Noakes, M.W.; Richardson, B.S.; Rowe, J.C.; Draper, J.V.; Sandness, G.R.

    1993-01-01

    The detection and characterization of buried objects and materials is an important first step in the restoration of the numerous US Department of Energy (DOE) and US Department of Defense waste disposal sites. DOE, through its Environmental Restoration and Waste Management Robotics and Technology Development Program, has developed the Remote Characterization System (RCS) to address the needs of remote subsurfacecharacterization. The RCS consists of a low-metal-content (low-metallic-signature) remotely piloted vehicle, a high-level control station (HLCS) where operators can remotely control the vehicle and analyze real-time data from sensors, and an array of sensors that can be chosen to meet the survey task at hand. Communication between the vehicle and the base station is handled by a radio link. Site mapping is made possible through the use of geopositioning satellite data. The primary mode of vehicle operation is teleoperation, but provision has been made for semiautonomous or supervisory control that allows for automated sitesurvey on simple sites. Data analysis and display is supported for both real-time observation and postprocessing of data. The particular emphasis of this paper documents the human-factors-based design influences on the HLCS and describes the design in detail

  20. D0 Cryo System Control System Autodialer

    Energy Technology Data Exchange (ETDEWEB)

    Urbin, J.; /Fermilab

    1990-04-17

    The DO cryogenic system is controlled by a TI565-PLC based control system. This allows the system to be unmanned when in steady state operation. System experts will need to be contacted when system parameters exceed normal operating points and reach alarm setpoints. The labwide FIRUS system provides one alarm monitor and communication link. An autodialer provides a second and more flexible alarm monitor and communication link. The autodialer monitors contact points in the control system and after receiving indication of an alarm accesses a list of experts which it calls until it receives an acknowledgement. There are several manufacturers and distributors of autodialer systems. This EN explains the search process the DO cryo group used to fmd an autodialer system that fit the cryo system's needs and includes information and specs for the unit we chose.

  1. The inspection of a radiologically contaminated pipeline using a teleoperated pipe crawler

    International Nuclear Information System (INIS)

    Fogle, R.F.; Kuelske, K.; Kellner, R.A.

    1995-01-01

    In the 1950s, the Savannah River Site built an open, unlined retention basin to temporarily store potentially radionuclide contaminated cooling water from a chemical separations process and storm water drainage from a nearby waste management facility that stored large quantities of nuclear fission byproducts in carbon steel tanks. The retention basin was retired from service in 1972 when a new, lined basin was completed. In 1978, the old retention basin was excavated, backfilled with uncontaminated dirt, and covered with grass. At the same time, much of the underground process pipeline leading to the basin was abandoned. Since the closure of the retention basin, new environmental regulations require that the basin undergo further assessment to determine whether additional remediation is required. A visual and radiological inspection of the pipeline was necessary to aid in the remediation decision making process for the retention basin system. A teleoperated pipe crawler inspection system was developed to survey the abandoned sections of underground pipelines leading to the retired retention basin. This paper will describe the background to this project, the scope of the investigation, the equipment requirements, and the results of the pipeline inspection

  2. Supervised Remote Robot with Guided Autonomy and Teleoperation (SURROGATE): A Framework for Whole-Body Manipulation

    Science.gov (United States)

    Hebert, Paul; Ma, Jeremy; Borders, James; Aydemir, Alper; Bajracharya, Max; Hudson, Nicolas; Shankar, Krishna; Karumanchi, Sisir; Douillard, Bertrand; Burdick, Joel

    2015-01-01

    The use of the cognitive capabilties of humans to help guide the autonomy of robotics platforms in what is typically called "supervised-autonomy" is becoming more commonplace in robotics research. The work discussed in this paper presents an approach to a human-in-the-loop mode of robot operation that integrates high level human cognition and commanding with the intelligence and processing power of autonomous systems. Our framework for a "Supervised Remote Robot with Guided Autonomy and Teleoperation" (SURROGATE) is demonstrated on a robotic platform consisting of a pan-tilt perception head, two 7-DOF arms connected by a single 7-DOF torso, mounted on a tracked-wheel base. We present an architecture that allows high-level supervisory commands and intents to be specified by a user that are then interpreted by the robotic system to perform whole body manipulation tasks autonomously. We use a concept of "behaviors" to chain together sequences of "actions" for the robot to perform which is then executed real time.

  3. The ATLAS Detector Control System

    International Nuclear Information System (INIS)

    Lantzsch, K; Braun, H; Hirschbuehl, D; Kersten, S; Arfaoui, S; Franz, S; Gutzwiller, O; Schlenker, S; Tsarouchas, C A; Mindur, B; Hartert, J; Zimmermann, S; Talyshev, A; Oliveira Damazio, D; Poblaguev, A; Martin, T; Thompson, P D; Caforio, D; Sbarra, C; Hoffmann, D

    2012-01-01

    The ATLAS experiment is one of the multi-purpose experiments at the Large Hadron Collider (LHC) at CERN, constructed to study elementary particle interactions in collisions of high-energy proton beams. Twelve different sub detectors as well as the common experimental infrastructure are controlled and monitored by the Detector Control System (DCS) using a highly distributed system of 140 server machines running the industrial SCADA product PVSS. Higher level control system layers allow for automatic control procedures, efficient error recognition and handling, manage the communication with external systems such as the LHC controls, and provide a synchronization mechanism with the ATLAS data acquisition system. Different databases are used to store the online parameters of the experiment, replicate a subset used for physics reconstruction, and store the configuration parameters of the systems. This contribution describes the computing architecture and software tools to handle this complex and highly interconnected control system.

  4. The ATLAS Detector Control System

    Science.gov (United States)

    Lantzsch, K.; Arfaoui, S.; Franz, S.; Gutzwiller, O.; Schlenker, S.; Tsarouchas, C. A.; Mindur, B.; Hartert, J.; Zimmermann, S.; Talyshev, A.; Oliveira Damazio, D.; Poblaguev, A.; Braun, H.; Hirschbuehl, D.; Kersten, S.; Martin, T.; Thompson, P. D.; Caforio, D.; Sbarra, C.; Hoffmann, D.; Nemecek, S.; Robichaud-Veronneau, A.; Wynne, B.; Banas, E.; Hajduk, Z.; Olszowska, J.; Stanecka, E.; Bindi, M.; Polini, A.; Deliyergiyev, M.; Mandic, I.; Ertel, E.; Marques Vinagre, F.; Ribeiro, G.; Santos, H. F.; Barillari, T.; Habring, J.; Huber, J.; Arabidze, G.; Boterenbrood, H.; Hart, R.; Iakovidis, G.; Karakostas, K.; Leontsinis, S.; Mountricha, E.; Ntekas, K.; Filimonov, V.; Khomutnikov, V.; Kovalenko, S.; Grassi, V.; Mitrevski, J.; Phillips, P.; Chekulaev, S.; D'Auria, S.; Nagai, K.; Tartarelli, G. F.; Aielli, G.; Marchese, F.; Lafarguette, P.; Brenner, R.

    2012-12-01

    The ATLAS experiment is one of the multi-purpose experiments at the Large Hadron Collider (LHC) at CERN, constructed to study elementary particle interactions in collisions of high-energy proton beams. Twelve different sub detectors as well as the common experimental infrastructure are controlled and monitored by the Detector Control System (DCS) using a highly distributed system of 140 server machines running the industrial SCADA product PVSS. Higher level control system layers allow for automatic control procedures, efficient error recognition and handling, manage the communication with external systems such as the LHC controls, and provide a synchronization mechanism with the ATLAS data acquisition system. Different databases are used to store the online parameters of the experiment, replicate a subset used for physics reconstruction, and store the configuration parameters of the systems. This contribution describes the computing architecture and software tools to handle this complex and highly interconnected control system.

  5. Autorotation flight control system

    Science.gov (United States)

    Bachelder, Edward N. (Inventor); Lee, Dong-Chan (Inventor); Aponso, Bimal L. (Inventor)

    2011-01-01

    The present invention provides computer implemented methodology that permits the safe landing and recovery of rotorcraft following engine failure. With this invention successful autorotations may be performed from well within the unsafe operating area of the height-velocity profile of a helicopter by employing the fast and robust real-time trajectory optimization algorithm that commands control motion through an intuitive pilot display, or directly in the case of autonomous rotorcraft. The algorithm generates optimal trajectories and control commands via the direct-collocation optimization method, solved using a nonlinear programming problem solver. The control inputs computed are collective pitch and aircraft pitch, which are easily tracked and manipulated by the pilot or converted to control actuator commands for automated operation during autorotation in the case of an autonomous rotorcraft. The formulation of the optimal control problem has been carefully tailored so the solutions resemble those of an expert pilot, accounting for the performance limitations of the rotorcraft and safety concerns.

  6. Framework for control system development

    International Nuclear Information System (INIS)

    Cork, C.; Nishimura, Hiroshi

    1992-01-01

    Control systems being developed for the present generation of accelerators will need to adapt to changing machine and operating state conditions. Such systems must also be capable of evolving over the life of the accelerator operation. In this paper we present a framework for the development of adaptive control systems

  7. Framework for control system development

    International Nuclear Information System (INIS)

    Cork, C.; Nishimura, Hiroshi.

    1991-11-01

    Control systems being developed for the present generation of accelerators will need to adapt to changing machine and operating state conditions. Such systems must also be capable of evolving over the life of the accelerator operation. In this paper we present a framework for the development of adaptive control systems

  8. The GSI control system

    International Nuclear Information System (INIS)

    Krause, U.; Schaa, V.; Steiner, R.

    1992-01-01

    The GSI accelerator facility consists of an old linac and two modern machines, a synchrotron and a storage ring. It is operated from one control room. Only three operators at a time have to keep it running with only little assistance from machine specialists in daytime. So the control tools must provide a high degree of abstraction and modeling to relieve the operators from details on the device level. The program structures to achieve this are described in this paper. A coarse overview of the control architecture is given. (author)

  9. Minicomputer controlled test system for process control and monitoring systems

    International Nuclear Information System (INIS)

    Worster, L.D.

    A minicomputer controlled test system for testing process control and monitoring systems is described. This system, in service for over one year, has demonstrated that computerized control of such testing has a real potential for expanding the scope of the testing, improving accuracy of testing, and significantly reducing the time required to do the testing. The test system is built around a 16-bit minicomputer with 12K of memory. The system programming language is BASIC with the addition of assembly level routines for communication with the peripheral devices. The peripheral devices include a 100 channel scanner, analog-to-digital converter, visual display, and strip printer. (auth)

  10. User interface for a tele-operated robotic hand system

    Science.gov (United States)

    Crawford, Anthony L

    2015-03-24

    Disclosed here is a user interface for a robotic hand. The user interface anchors a user's palm in a relatively stationary position and determines various angles of interest necessary for a user's finger to achieve a specific fingertip location. The user interface additionally conducts a calibration procedure to determine the user's applicable physiological dimensions. The user interface uses the applicable physiological dimensions and the specific fingertip location, and treats the user's finger as a two link three degree-of-freedom serial linkage in order to determine the angles of interest. The user interface communicates the angles of interest to a gripping-type end effector which closely mimics the range of motion and proportions of a human hand. The user interface requires minimal contact with the operator and provides distinct advantages in terms of available dexterity, work space flexibility, and adaptability to different users.

  11. Development and demonstration of a teleoperated modular robot system

    International Nuclear Information System (INIS)

    Tosunoglu, S.; Tesar, D.

    1992-01-01

    This collection of bi-monthly progress reports on the DOE/NE Robotics Program presents information on significant accomplishments, reports and major correspondence issued, important meetings, and major problems associated with the program

  12. User interface for a tele-operated robotic hand system

    Energy Technology Data Exchange (ETDEWEB)

    Crawford, Anthony L

    2015-03-24

    Disclosed here is a user interface for a robotic hand. The user interface anchors a user's palm in a relatively stationary position and determines various angles of interest necessary for a user's finger to achieve a specific fingertip location. The user interface additionally conducts a calibration procedure to determine the user's applicable physiological dimensions. The user interface uses the applicable physiological dimensions and the specific fingertip location, and treats the user's finger as a two link three degree-of-freedom serial linkage in order to determine the angles of interest. The user interface communicates the angles of interest to a gripping-type end effector which closely mimics the range of motion and proportions of a human hand. The user interface requires minimal contact with the operator and provides distinct advantages in terms of available dexterity, work space flexibility, and adaptability to different users.

  13. Systems and Control Engineering

    Indian Academy of Sciences (India)

    design of civil engineering structures has been noted. Protecting ci vil ... R despite disturbing forces such as wind gusts, changes in ambient temperature, etc .. Brief History of ... frequency regulation, boiler control for steam generation, electric.

  14. Controlling Uncertain Dynamical Systems

    Indian Academy of Sciences (India)

    Author Affiliations. N Ananthkrishnan1 Rashi Bansal2. Head, CAE Analysis & Design Zeus Numerix Pvt Ltd. M-03, SINE, IIT Bombay Powai Mumbai 400076, India. MTech (Aerospace Engineering) with specialization in Dynamics & Control from IIT Bombay.

  15. Delays and networked control systems

    CERN Document Server

    Hetel, Laurentiu; Daafouz, Jamal; Johansson, Karl

    2016-01-01

    This edited monograph includes state-of-the-art contributions on continuous time dynamical networks with delays. The book is divided into four parts. The first part presents tools and methods for the analysis of time-delay systems with a particular attention on control problems of large scale or infinite-dimensional systems with delays. The second part of the book is dedicated to the use of time-delay models for the analysis and design of Networked Control Systems. The third part of the book focuses on the analysis and design of systems with asynchronous sampling intervals which occur in Networked Control Systems. The last part of the book exposes several contributions dealing with the design of cooperative control and observation laws for networked control systems. The target audience primarily comprises researchers and experts in the field of control theory, but the book may also be beneficial for graduate students. .

  16. Control integral systems; Sistemas integrales de control

    Energy Technology Data Exchange (ETDEWEB)

    Burgos, Estrella [Instituto de Investigaciones Electricas, Cuernavaca (Mexico)

    1999-12-31

    Almost two third of the electric power generation in Mexico are obtained from hydrocarbons, for that reasons Comision Federal de Electricidad (CFE) dedicated special commitment in modernizing the operation of fossil fuel central stations. In attaining this objective the control systems play a fundamental roll, from them depend a good share of the reliability and the efficiency of the electric power generation process, as well as the extension of the equipment useful life. Since 1984 the Instituto de Investigaciones Electricas (IIE) has been working, upon the request of CFE, on the development of digital control systems. To date it has designed and implemented a logic control system for gas burners, which controls 32 burners of the Unit 4 boiler of the Generation Central of Valle de Mexico and two systems for distributed control for two combined cycle central stations, which are: Dos Bocas, Veracruz Combined cycle central, and Gomez Palacio, Durango combined cycle central. With these two developments the IIE enters the World tendency of implementing distributed control systems for the fossil fuel power central update [Espanol] Casi las dos terceras partes de la generacion electrica en Mexico se obtienen a partir de hidrocarburos, es por eso que la Comision Federal de Electricidad (CFE) puso especial empeno en modernizar la operacion de las centrales termoelectricas de combustibles fosiles. En el logro de este objetivo los sistemas de control desempenan un papel fundamental, de ellos depende una buena parte la confiabilidad y la eficiencia en el proceso de generacion de energia electrica, asi como la prolongacion de la vida util de los equipos. Desde 1984 el Instituto de Investigaciones Electricas (IIE) ha trabajado, a solicitud de la CFE, en el desarrollo de sistemas digitales de control. A la fecha se han disenado e implantado un sistema de control logico de quemadores de gas, el cual controla 32 quemadores de la caldera de la unidad 4 de la central de generacion

  17. Control integral systems; Sistemas integrales de control

    Energy Technology Data Exchange (ETDEWEB)

    Burgos, Estrella [Instituto de Investigaciones Electricas, Cuernavaca (Mexico)

    1998-12-31

    Almost two third of the electric power generation in Mexico are obtained from hydrocarbons, for that reasons Comision Federal de Electricidad (CFE) dedicated special commitment in modernizing the operation of fossil fuel central stations. In attaining this objective the control systems play a fundamental roll, from them depend a good share of the reliability and the efficiency of the electric power generation process, as well as the extension of the equipment useful life. Since 1984 the Instituto de Investigaciones Electricas (IIE) has been working, upon the request of CFE, on the development of digital control systems. To date it has designed and implemented a logic control system for gas burners, which controls 32 burners of the Unit 4 boiler of the Generation Central of Valle de Mexico and two systems for distributed control for two combined cycle central stations, which are: Dos Bocas, Veracruz Combined cycle central, and Gomez Palacio, Durango combined cycle central. With these two developments the IIE enters the World tendency of implementing distributed control systems for the fossil fuel power central update [Espanol] Casi las dos terceras partes de la generacion electrica en Mexico se obtienen a partir de hidrocarburos, es por eso que la Comision Federal de Electricidad (CFE) puso especial empeno en modernizar la operacion de las centrales termoelectricas de combustibles fosiles. En el logro de este objetivo los sistemas de control desempenan un papel fundamental, de ellos depende una buena parte la confiabilidad y la eficiencia en el proceso de generacion de energia electrica, asi como la prolongacion de la vida util de los equipos. Desde 1984 el Instituto de Investigaciones Electricas (IIE) ha trabajado, a solicitud de la CFE, en el desarrollo de sistemas digitales de control. A la fecha se han disenado e implantado un sistema de control logico de quemadores de gas, el cual controla 32 quemadores de la caldera de la unidad 4 de la central de generacion

  18. Asynchronous control for networked systems

    CERN Document Server

    Rubio, Francisco; Bencomo, Sebastián

    2015-01-01

    This book sheds light on networked control systems; it describes different techniques for asynchronous control, moving away from the periodic actions of classical control, replacing them with state-based decisions and reducing the frequency with which communication between subsystems is required. The text focuses specially on event-based control. Split into two parts, Asynchronous Control for Networked Systems begins by addressing the problems of single-loop networked control systems, laying out various solutions which include two alternative model-based control schemes (anticipatory and predictive) and the use of H2/H∞ robust control to deal with network delays and packet losses. Results on self-triggering and send-on-delta sampling are presented to reduce the need for feedback in the loop. In Part II, the authors present solutions for distributed estimation and control. They deal first with reliable networks and then extend their results to scenarios in which delays and packet losses may occur. The novel ...

  19. Standardization of detector control systems

    International Nuclear Information System (INIS)

    Fukunaga, Chikara

    2000-01-01

    Current and future detectors for high-energy and/or nuclear physics experiments require highly intelligent detector control systems. In order to reduce resources, the construction of a standardized template for the control systems based on the commercially available superviser control and data acquisition (SCADA) system has been proposed. The possibility of constructing this template is discussed and several key issues for evaluation of SCADA as the basis for such a template are presented. (author)

  20. Lighting Control System (ILCS)

    African Journals Online (AJOL)

    2017-08-08

    Aug 8, 2017 ... function blocks CNC machining protocol. Advanced Materials Research, 2014, 845:779-785. [2] Miki M, Nagano M, Yoshimi M, Yonemoto H, Yoshida K. Intelligent lighting system with an additional energy-saving mechanism. In IEEE International Conference on Systems,. Man, and Cybernetics, 2012, pp.

  1. Decontamination and concrete core sampling by teleoperated robot at Fukushima Daiichi reactor buildings

    International Nuclear Information System (INIS)

    Watanabe, Masaru; Onitsuka, Hironori; Shimonabe, Noriaki; Fujita, Jun; Matsumura, Takumi; Okumura, Atsushi

    2015-01-01

    For decommissioning of Fukushima daiichi nuclear power station, reduction of the dose equivalent rates inside the reactor buildings is an important issue. Concrete core sampling from the buildings to investigate the contamination is necessary for study about effective decontamination. However, dose rate inside the reactor buildings is very high. For example, dose rate of 1st floor on the Unit 1 is 1.2 - 1820 [mSv / h], the Unit 2 is 2.5 - 220 [mSv / h] and Unit 3 is 2.2 - 4780 [mSv / h]. So it is difficult for workers to work long hours. Therefore, a teleoperated robot, named 'MHI-MEISTeR (Mitsubishi Heavy Industries - Maintenance Equipment Integrated System of Telecontrol Robot)', has been developed to conduct operations like concrete core samples from the reactor buildings. Actually, some concrete core samples from Fukushima daiichi were taken by MHI-MEISTeR. In addition, MHI-MEISTeR is designed as a versatile robot, and so it can conduct suction / blast decontamination works as well as concrete core sampling. The above operations were performed by MHI-MEISTeR in Fukushima daiichi nuclear power station. (author)

  2. AUTOMATIC FREQUENCY CONTROL SYSTEM

    Science.gov (United States)

    Hansen, C.F.; Salisbury, J.D.

    1961-01-10

    A control is described for automatically matching the frequency of a resonant cavity to that of a driving oscillator. The driving oscillator is disconnected from the cavity and a secondary oscillator is actuated in which the cavity is the frequency determining element. A low frequency is mixed with the output of the driving oscillator and the resultant lower and upper sidebands are separately derived. The frequencies of the sidebands are compared with the secondary oscillator frequency. deriving a servo control signal to adjust a tuning element in the cavity and matching the cavity frequency to that of the driving oscillator. The driving oscillator may then be connected to the cavity.

  3. Reactor power control system

    International Nuclear Information System (INIS)

    Tomisawa, Teruaki.

    1981-01-01

    Purpose: To restore reactor-power condition in a minimum time after a termination of turbine bypass by reducing the throttling of the reactor power at the time of load-failure as low as possible. Constitution: The transient change of the internal pressure of condenser is continuously monitored. When a turbine is bypassed, a speed-control-command signal for a coolant recirculating pump is generated according as the internal pressure of the condenser. When the signal relating to the internal pressure of the condenser indicates insufficient power, a reactor-control-rod-drive signal is generated. (J.P.N.)

  4. Ground Control System Description Document

    International Nuclear Information System (INIS)

    Eric Loros

    2001-01-01

    The Ground Control System contributes to the safe construction and operation of the subsurface facility, including accesses and waste emplacement drifts, by maintaining the configuration and stability of the openings during construction, development, emplacement, and caretaker modes for the duration of preclosure repository life. The Ground Control System consists of ground support structures installed within the subsurface excavated openings, any reinforcement made to the rock surrounding the opening, and inverts if designed as an integral part of the system. The Ground Control System maintains stability for the range of geologic conditions expected at the repository and for all expected loading conditions, including in situ rock, construction, operation, thermal, and seismic loads. The system maintains the size and geometry of operating envelopes for all openings, including alcoves, accesses, and emplacement drifts. The system provides for the installation and operation of sensors and equipment for any required inspection and monitoring. In addition, the Ground Control System provides protection against rockfall for all subsurface personnel, equipment, and the engineered barrier system, including the waste package during the preclosure period. The Ground Control System uses materials that are sufficiently maintainable and that retain the necessary engineering properties for the anticipated conditions of the preclosure service life. These materials are also compatible with postclosure waste isolation performance requirements of the repository. The Ground Control System interfaces with the Subsurface Facility System for operating envelopes, drift orientation, and excavated opening dimensions, Emplacement Drift System for material compatibility, Monitored Geologic Repository Operations Monitoring and Control System for ground control instrument readings, Waste Emplacement/Retrieval System to support waste emplacement operations, and the Subsurface Excavation System

  5. Control Allocation for Overactuated Systems

    National Research Council Canada - National Science Library

    Oppenheimer, Michael W; Doman, David B

    2006-01-01

    Much emphasis has been placed on overactuated systems for air vehicles. Overactuating an air vehicle provides a certain amount of redundancy for the flight control system, thus potentially allowing for recovery from off-nominal conditions...

  6. The APS control system network

    International Nuclear Information System (INIS)

    Sidorowicz, K.V.; McDowell, W.P.

    1995-01-01

    The APS accelerator control system is a distributed system consisting of operator interfaces, a network, and computer-controlled interfaces to hardware. This implementation of a control system has come to be called the open-quotes Standard Model.close quotes The operator interface is a UNDC-based workstation with an X-windows graphical user interface. The workstation may be located at any point on the facility network and maintain full functionality. The function of the network is to provide a generalized communication path between the host computers, operator workstations, input/output crates, and other hardware that comprise the control system. The crate or input/output controller (IOC) provides direct control and input/output interfaces for each accelerator subsystem. The network is an integral part of all modem control systems and network performance will determine many characteristics of a control system. This paper will describe the overall APS network and examine the APS control system network in detail. Metrics are provided on the performance of the system under various conditions

  7. Digital control systems. Verteilte Prozessleitsysteme

    Energy Technology Data Exchange (ETDEWEB)

    1984-01-01

    With a distinct description of the systems properties thin regulation shall provide a latter transparency for the use of digital control systems. The application of the new technique shall be facilitated, incitations for the further development shall be given and the compatibility of the systems shall be advanced. Moreover, the regulation can be used as criteria catalogue for the evaluation of digital systems.

  8. A Classification of Human-to-Human Communication during the Use of Immersive Teleoperation Interfaces

    DEFF Research Database (Denmark)

    Kraus, Martin; Kibsgaard, Martin

    2015-01-01

    We propose a new classification of the human-to-human communication during the use of immersive teleoperation interfaces based on real-life examples. While a large body of research is concerned with communication in collaborative virtual environments (CVEs), less research focuses on cases where...... of the proposed classification to real environments can offer useful reference cases. Using this extended classification not only allows us to discuss and understand differences and similarities of various forms of communication in a more systematic way, but it also provides guidelines and reference cases...... for the design of immersive teleoperation interfaces that support human-to-human communication....

  9. Development of a teleoperated backhoe for buried waste excavation

    International Nuclear Information System (INIS)

    Burks, B.L.; Killough, S.M.; Thompson, D.H.

    1992-01-01

    For nearly five decades the United States (US) Department of Energy (DOE) and its predecessor agencies have engaged in broad-based research and development activities as well as nuclear weapons component production. As a by-product of these activities, large quantities of waste materials have been granted. One of the most common approaches used for solid waste storage was to bury waste containers in pits and trenches. With the current emphasis on environmental restoration, DOE now plans to either retrieve much of the legacy of buried waste or stabilize the waste in place via in situ vitrification or other means. Because of the variety of materials that have been buried over the years, the hazards of retrieval are significant if performed using conventional manned operations. The potential hazards, in addition to radiation exposure, include pyrophorics, toxic chemicals, and explosives. Although manifests exist for much of the buried waste, these records are often incomplete compared to today's requirements. Because of the potential hazards and uncertainty about waste contents and container integrity, it is highly desirable to excavate these wastes using remotely operated equipment. In this paper the authors describe the development of a teleoperated military tractor called the Small Emplacement Excavator (SEE). Development of the SEE is being funded jointly by both DOE and the US Army. The DOE sponsor is the Office of Technology Development (OTD) Robotics Program. The US Army sponsor is the Program Manager for Ammunition Logistics, Picatinny Arsenal. The primary interest for DOE is in the application to remote excavation of buried waste, while the primary emphasis for the US Army is in the remote retrieval of unexploded ordnance. Technical requirements for these two tasks are very similar and, therefore, justify a joint development project. 1 ref

  10. Controlling systems of cogeneration blocks

    International Nuclear Information System (INIS)

    Suriansky, J.; Suriansky, J. Ml.; Puskajler, J.

    2007-01-01

    In this article the main parts of cogeneration unit control system are described. Article is aimed on electric power measurement with electricity protection as with temperature system regulation. In conclusion of the article, the control algorithm with perspective of cogeneration solve is indicated. (authors)

  11. Automatic Bridge Control System

    OpenAIRE

    M. Niraimathi; S.Sivakumar; R.Vigneshwaran; R.Vinothkumar; P.Babu

    2012-01-01

    Bridge vibration control is an important issue whose purpose is to extend the structural service life of bridges. Normally, the bridge is modeled as an elastic beam or plate subject to a moving vehicle. However, the moving truck on a bridge is a complicated problem that must still be researched. In this paper, wepropose a new method, to overcome the huge load in the bridge a load cell is used at the entry which will monitor the load continuously at both ends. To escape from the heavy water fl...

  12. Virtualization in control system environment

    International Nuclear Information System (INIS)

    Shen, L.R.; Liu, D.K.; Wan, T.M.

    2012-01-01

    In large scale distributed control system, there are lots of common service composed an environment for the entire control system, such as the server system for the common software base library, application server, archive server and so on. This paper gives a description of a virtualization realization for control system environment including the virtualization for server, storage, network system and application for the control system. With a virtualization instance of the EPICS based control system environment that was built by the VMware vSphere v4, we tested the whole functionality of this virtualization environment in the SSRF control system, including the common server of the NFS, NIS, NTP, Boot and EPICS base and extension library tools, we also have applied virtualization to application servers such as the Archive, Alarm, EPICS gateway and all of the network based IOC. Specially, we test the high availability and VMotion for EPICS asynchronous IOC successful under the different VLAN configuration of the current SSRF control system network. (authors)

  13. Optimal Control of Mechanical Systems

    Directory of Open Access Journals (Sweden)

    Vadim Azhmyakov

    2007-01-01

    Full Text Available In the present work, we consider a class of nonlinear optimal control problems, which can be called “optimal control problems in mechanics.” We deal with control systems whose dynamics can be described by a system of Euler-Lagrange or Hamilton equations. Using the variational structure of the solution of the corresponding boundary-value problems, we reduce the initial optimal control problem to an auxiliary problem of multiobjective programming. This technique makes it possible to apply some consistent numerical approximations of a multiobjective optimization problem to the initial optimal control problem. For solving the auxiliary problem, we propose an implementable numerical algorithm.

  14. Ubiquitous Wireless Smart Sensing and Control. Pumps and Pipes JSC: Uniquely Houston

    Science.gov (United States)

    Wagner, Raymond

    2013-01-01

    Need new technologies to reliably and safely have humans interact within sensored environments (integrated user interfaces, physical and cognitive augmentation, training, and human-systems integration tools).Areas of focus include: radio frequency identification (RFID), motion tracking, wireless communication, wearable computing, adaptive training and decision support systems, and tele-operations. The challenge is developing effective, low cost/mass/volume/power integrated monitoring systems to assess and control system, environmental, and operator health; and accurately determining and controlling the physical, chemical, and biological environments of the areas and associated environmental control systems.

  15. Decentralized control of complex systems

    CERN Document Server

    Siljak, Dragoslav D

    2011-01-01

    Complex systems require fast control action in response to local input, and perturbations dictate the use of decentralized information and control structures. This much-cited reference book explores the approaches to synthesizing control laws under decentralized information structure constraints.Starting with a graph-theoretic framework for structural modeling of complex systems, the text presents results related to robust stabilization via decentralized state feedback. Subsequent chapters explore optimization, output feedback, the manipulative power of graphs, overlapping decompositions and t

  16. Argonne's atlas control system upgrade

    International Nuclear Information System (INIS)

    Munson, F.; Quock, D.; Chapin, B.; Figueroa, J.

    1999-01-01

    The ATLAS facility (Argonne Tandem-Linac Accelerator System) is located at the Argonne National Laboratory. The facility is a tool used in nuclear and atomic physics research, which focuses primarily on heavy-ion physics. The accelerator as well as its control system are evolutionary in nature, and consequently, continue to advance. In 1998 the most recent project to upgrade the ATLAS control system was completed. This paper briefly reviews the upgrade, and summarizes the configuration and features of the resulting control system

  17. PLC VVVF Elevator Control System

    OpenAIRE

    Tang, Yujian; Gui, Tianyu

    2016-01-01

    The aim of the thesis is to introduce the PLC VVVF elevator and its control system. The thesis can be divided into three parts. The first part is about the overview of the lift: the kinds of the lift and the structure of the lift, it shows the knowledge about the components and the operating systems of the lift. The second part is about the PLC control system, it’s about the operations of the lift from the introduction about the hardware and software of the PLC control system. And the thi...

  18. Vacuum control system of VEC

    International Nuclear Information System (INIS)

    Roy, Anindya; Bhole, R.B.; Bandopadhyay, D.L.; Mukhopadhyay, B.; Pal, Sarbajit; Sarkar, D.

    2009-01-01

    As a part of modernization of VEC (Variable Energy Cyclotron), the Vacuum Control System is being upgraded to PLC based automated system from initial Relay based Manual system. EPICS (Experimental Physics and Industrial Control System), a standard open source software tool for designing distributed control system, is chosen for developing the supervisory control software layer, leading towards a unified distributed control architecture of VEC Control System. A Modbus - TCP based IOC (I/O Controller) has been developed to communicate control data to PLC using Ethernet-TCP LAN. Keeping in mind, the operators' familiarity with MS-Windows, a MS-Windows based operator interface is developed using VB6. It is also used to test and evaluate EPICS compatibility to MS Windows. Several MS Windows ActiveX components e.g. text display, image display, alarm window, set-point input etc. have been developed incorporating Channel Access library of EPICS. Use of such components ease the programming complexity and reduce developmental time of the operator interface. The system is in the final phase of commissioning. (author)

  19. JT-60 plasma control system

    International Nuclear Information System (INIS)

    Kurihara, K.

    1988-01-01

    JT-60 plasma control can be performed by the supervisory controller, the measurement system and actuators such as the poloidal field coil power supplies, gas injectors, neutral beam injection (NBI) heating system and radio frequency (RF) heating system. One of the most important characteristics of this system is a perfect digital control one composed of mini-computers, fast array processors and CAMAC modules, and it has large flexibility and few troubles to adjust the system. This system started to be operated in April 1985, after the six-year-long design, construction and testing, and have been operated and improved many times for two years. In this paper, the final system specification and its performance are presented aiming at the technological aspect of hardware and software. In addition, and experienced troubles are also presented. (author)

  20. Computer control system of TRISTAN

    International Nuclear Information System (INIS)

    Kurokawa, Shin-ichi; Shinomoto, Manabu; Kurihara, Michio; Sakai, Hiroshi.

    1984-01-01

    For the operation of a large accelerator, it is necessary to connect an enormous quantity of electro-magnets, power sources, vacuum equipment, high frequency accelerator and so on and to control them harmoniously. For the purpose, a number of computers are adopted, and connected with a network, in this way, a large computer system for laboratory automation which integrates and controls the whole system is constructed. As a distributed system of large scale, the functions such as electro-magnet control, file processing and operation control are assigned to respective computers, and the total control is made feasible by network connection, at the same time, as the interface with controlled equipment, the CAMAC (computer-aided measurement and control) is adopted to ensure the flexibility and the possibility of expansion of the system. Moreover, the language ''NODAL'' having network support function was developed so as to easily make software without considering the composition of more complex distributed system. The accelerator in the TRISTAN project is composed of an electron linear accelerator, an accumulation ring of 6 GeV and a main ring of 30 GeV. Two ring type accelerators must be synchronously operated as one body, and are controlled with one computer system. The hardware and software are outlined. (Kako, I.)

  1. Control of Solar Energy Systems

    CERN Document Server

    Camacho, Eduardo F; Rubio, Francisco R; Martínez, Diego

    2012-01-01

    Control of Solar Energy Systems details the main solar energy systems, problems involved with their control, and how control systems can help in increasing their efficiency.  After a brief introduction to the fundamental concepts associated with the use of solar energy in both photovoltaic and thermal plants, specific issues related to control of solar systems are embarked upon. Thermal energy systems are then explored in depth, as well as  other solar energy applications such as solar furnaces and solar refrigeration systems. Problems of variable generation profile and of the contribution of many solar plants to the same grid system are considered with the necessary integrated and supervisory control solutions being discussed. The text includes material on: ·         A comparison of basic and advanced control methods for parabolic troughs from PID to nonlinear model-based control; ·         solar towers and solar tracking; ·         heliostat calibration, characterization and off...

  2. Upgrading the ATLAS control system

    International Nuclear Information System (INIS)

    Munson, F.H.; Ferraretto, M.

    1993-01-01

    Heavy-ion accelerators are tools used in the research of nuclear and atomic physics. The ATLAS facility at the Argonne National Laboratory is one such tool. The ATLAS control system serves as the primary operator interface to the accelerator. A project to upgrade the control system is presently in progress. Since this is an upgrade project and not a new installation, it was imperative that the development work proceed without interference to normal operations. An additional criteria for the development work was that the writing of additional ''in-house'' software should be kept to a minimum. This paper briefly describes the control system being upgraded, and explains some of the reasons for the decision to upgrade the control system. Design considerations and goals for the new system are described, and the present status of the upgrade is discussed

  3. Control Evaluation Information System Savings

    Directory of Open Access Journals (Sweden)

    Eddy Sutedjo

    2011-05-01

    Full Text Available The purpose of this research is to evaluate the control of information system savings in the banking and to identify the weaknesses and problem happened in those saving systems. Research method used are book studies by collecting data and information needed and field studies by interview, observation, questioner, and checklist using COBIT method as a standard to assess the information system control of the company. The expected result about the evaluation result that show in the problem happened and recommendation given as the evaluation report and to give a view about the control done by the company. Conclusion took from this research that this banking company has met standards although some weaknesses still exists in the system.Index Terms - Control Information System, Savings

  4. Manual control of unstable systems

    Science.gov (United States)

    Allen, R. W.; Hogue, J. R.; Parseghian, Z.

    1986-01-01

    Under certain operational regimes and failure modes, air and ground vehicles can present the human operator with a dynamically unstable or divergent control task. Research conducted over the last two decades has explored the ability of the human operator to control unstable systems under a variety of circumstances. Past research is reviewed and human operator control capabilities are summarized. A current example of automobile directional control under rear brake lockup conditions is also reviewed. A control system model analysis of the driver's steering control task is summarized, based on a generic driver/vehicle model presented at last year's Annual Manual. Results from closed course braking tests are presented that confirm the difficulty the average driver has in controlling the unstable directional dynamics arising from rear wheel lockup.

  5. Cigarette weight control systems

    International Nuclear Information System (INIS)

    Powell, G.F.W.; Bolt, R.C.; Simmons, A.

    1980-01-01

    A system is described for monitoring the weight of a continuous wrapped rod of tobacco formed by a cigarette-making machine. A scanner unit can be used which passes beta-rays from a primary radiation source through the rod. The absorption is measured by comparison of the intensity at a detector on the opposite side of the rod with that at a detector facing another smaller source, the balance unit. This is pre-set so that when the rod weight is correct the detected intensities from the two sources will be equal. It is essential that the scanning station is kept clean otherwise the dust is included in the weight reading and the cigarettes manufactured would be underweight. This can be checked using an artificial cigarette of known weight as a calibration check. In this device a test circuit can be connected to the scanner head and this opens the shutter over the radioactive source when the test is initiated. A warning device is initiated if the reading is beyond predetermined limits and can be made to prevent operation of the cigarette machine if a satisfactory test is not obtained. (U.K.)

  6. Vehicle electrical system state controller

    Science.gov (United States)

    Bissontz, Jay E.

    2017-10-17

    A motor vehicle electrical power distribution system includes a plurality of distribution sub-systems, an electrical power storage sub-system and a plurality of switching devices for selective connection of elements of and loads on the power distribution system to the electrical power storage sub-system. A state transition initiator provides inputs to control system operation of switching devices to change the states of the power distribution system. The state transition initiator has a plurality of positions selection of which can initiate a state transition. The state transition initiator can emulate a four position rotary ignition switch. Fail safe power cutoff switches provide high voltage switching device protection.

  7. ISABELLE control system: design concepts

    International Nuclear Information System (INIS)

    Humphrey, J.W.

    1979-01-01

    ISABELLE is a Department of Energy funded proton accelerator/storage ring being built at Brookhaven National Laboratory (Upton, Long Island, New York). It is large (3.8 km circumference) and complicated (approx. 30,000 monitor and control variables). It is based on superconducting technology. Following the example of previous accelerators, ISABELLE will be operated from a single control center. The control system will be distributed and will incorporate a local computer network. An overview of the conceptual design of the ISABELLE control system will be presented

  8. Traction Control System for Motorcycles

    Directory of Open Access Journals (Sweden)

    Cardinale Pascal

    2009-01-01

    Full Text Available Traction control is a widely used control system to increase stability and safety of four wheel vehicles. Automatic stability control is used in the BMW K1200R motorcycle and in motoGP competition, but not in other motorcycles. This paper presents an algorithm and a low-cost real-time hardware implementation for motorcycles. A prototype has been developed, applied on a commercial motorcycle, and tested in a real track. The control system that can be tuned by the driver during the race has been appreciated by the test driver.

  9. Controllability of a multichannel system

    Science.gov (United States)

    Ivanov, Sergei A.; Wang, Jun Min

    2018-02-01

    We consider the system consisting of K coupled acoustic channels with the different sound velocities cj. Channels are interacting at any point via the pressure and its time derivatives. Using the moment approach and the theory of exponential families with vector coefficients we establish two controllability results: the system is exactly controllable if (i) the control uj in the jth channel acts longer than the double travel time of a wave from the start to the end of the j-th channel; (ii) all controls uj act more than or equal to the maximal double travel time.

  10. Test results of HTTR control system

    International Nuclear Information System (INIS)

    Motegi, Toshihiro; Iigaki, Kazuhiko; Saito, Kenji; Sawahata, Hiroaki; Hirato, Yoji; Kondo, Makoto; Shibutani, Hideki; Ogawa, Satoru; Shinozaki, Masayuki; Mizushima, Toshihiko; Kawasaki, Kozo

    2006-06-01

    The plant control performance of the IHX helium flow rate control system, the PPWC helium flow rate control system, the secondary helium flow rate control system, the inlet temperature control system, the reactor power control system and the outlet temperature control system of the HTTR are obtained through function tests and power-up tests. As the test results, the control systems show stable control response under transient condition. Both of inlet temperature control system and reactor power control system shows stable operation from 30% to 100%, respectively. This report describes the outline of control systems and test results. (author)

  11. MULTIPLE ECH LAUNCHER CONTROL SYSTEM

    International Nuclear Information System (INIS)

    GREEN, M.T.; PONCE, D.; GRUNLOH, H.J.; ELLIS, R.A.; GROSNICKLE, W.H.; HUMPHREY, R.L.

    2004-03-01

    OAK-B135 The addition of new, high power gyrotrons to the heating and current drive arsenal at DIII-D, required a system upgrade for control of fully steerable ECH Launchers. Each launcher contains two pointing mirrors with two degrees of mechanical freedom. The two flavors of motion are called facet and tilt. Therefore up to four channels of motion per launcher need to be controlled. The system utilizes absolute encoders to indicate mirror position and therefore direction of the microwave beam. The launcher movement is primarily controlled by PLC, but future iterations of design, may require this control to be accomplished by a CPU on fast bus such as Compact PCI. This will be necessary to accomplish real time position control. Safety of equipment and personnel is of primary importance when controlling a system of moving parts. Therefore multiple interlocks and fault status enunciators have been implemented. This paper addresses the design of a Multiple ECH Launcher Control System, and characterizes the flexibility needed to upgrade to a real time position control system in the future

  12. Weld analysis and control system

    Science.gov (United States)

    Kennedy, Larry Z. (Inventor); Rodgers, Michael H. (Inventor); Powell, Bradley W. (Inventor); Burroughs, Ivan A. (Inventor); Goode, K. Wayne (Inventor)

    1994-01-01

    The invention is a Weld Analysis and Control System developed for active weld system control through real time weld data acquisition. Closed-loop control is based on analysis of weld system parameters and weld geometry. The system is adapted for use with automated welding apparatus having a weld controller which is capable of active electronic control of all aspects of a welding operation. Enhanced graphics and data displays are provided for post-weld analysis. The system provides parameter acquisition, including seam location which is acquired for active torch cross-seam positioning. Torch stand-off is also monitored for control. Weld bead and parent surface geometrical parameters are acquired as an indication of weld quality. These parameters include mismatch, peaking, undercut, underfill, crown height, weld width, puddle diameter, and other measurable information about the weld puddle regions, such as puddle symmetry, etc. These parameters provide a basis for active control as well as post-weld quality analysis and verification. Weld system parameters, such as voltage, current and wire feed rate, are also monitored and archived for correlation with quality parameters.

  13. A novel approach to haptic tele-operation of aerial robot vehicles

    NARCIS (Netherlands)

    Stramigioli, Stefano; Mahony, Robert; Corke, Peter

    2010-01-01

    We present a novel, simple and effective approach for tele-operation of aerial robotic vehicles with haptic feedback. Such feedback provides the remote pilot with an intuitive feel of the robot's state and perceived local environment that will ensure simple and safe operation in cluttered 3D

  14. Slave-side devices for micromanipulation in a haptic teleoperation scenario

    NARCIS (Netherlands)

    Estevez Castillo, P.

    2012-01-01

    Haptic teleoperation is a promising approach for dealing with the manipulation of micro-objects, fabricated in small series or as prototypes, and in processes which are novel or uncertain. Human operators provide their ability to plan, understand and react when faced with unexpected situations

  15. The Improvement of Telerobotic System Behavior in Contact with Remote Environment by Extension of an Impedance Controller

    Directory of Open Access Journals (Sweden)

    Nedim Osmic

    2008-11-01

    Full Text Available The teleoperation (telerobotic systems often face two key challenges: the existence of communication delays between the master and slave site as well as the addition of force feedback to improve the user’s sense of presence. The first goal of this paper is that the slave manipulator should track the position of the master manipulator and the second goal is that the environmental force acting on the slave, when it contacts a remote environment, be accurately transmitted to the master. For solving both problems we proposed the symmetric impedance matched teleoperation systems with a wave filter in feedback loop. Simulations results using a single-degree of freedom master/slave system are presented showing the performance of the resulting system.

  16. The BATES linac control system

    International Nuclear Information System (INIS)

    Russ, T.; Radouch, Z.

    1989-01-01

    The Bates linac control system (LCS), a distributed processing architecture, is described. Due to the historic evolution of the system, a mix of different hardware, operating systems and programming languages are used throughout. However, a standardized interface at the network level enables a smooth system integration. In particular, a multicasting scheme for data transmission over the network permits simultaneous database updates on more than one workstation. This allows for true distribution of data processing power. 3 figs

  17. Packaging of control system software

    International Nuclear Information System (INIS)

    Zagar, K.; Kobal, M.; Saje, N.; Zagar, A.; Sabjan, R.; Di Maio, F.; Stepanov, D.

    2012-01-01

    Control system software consists of several parts - the core of the control system, drivers for integration of devices, configuration for user interfaces, alarm system, etc. Once the software is developed and configured, it must be installed to computers where it runs. Usually, it is installed on an operating system whose services it needs, and also in some cases dynamically links with the libraries it provides. Operating system can be quite complex itself - for example, a typical Linux distribution consists of several thousand packages. To manage this complexity, we have decided to rely on Red Hat Package Management system (RPM) to package control system software, and also ensure it is properly installed (i.e., that dependencies are also installed, and that scripts are run after installation if any additional actions need to be performed). As dozens of RPM packages need to be prepared, we are reducing the amount of effort and improving consistency between packages through a Maven-based infrastructure that assists in packaging (e.g., automated generation of RPM SPEC files, including automated identification of dependencies). So far, we have used it to package EPICS, Control System Studio (CSS) and several device drivers. We perform extensive testing on Red Hat Enterprise Linux 5.5, but we have also verified that packaging works on CentOS and Scientific Linux. In this article, we describe in greater detail the systematic system of packaging we are using, and its particular application for the ITER CODAC Core System. (authors)

  18. Display systems for NPP control

    International Nuclear Information System (INIS)

    Rozov, S.S.

    1988-01-01

    Main trends in development of display systems used as the means for image displaying in NPP control systems are considered. It is shown that colour display devices appear to be the most universal means for concentrated data presentation. Along with digital means the display systems provide for high-speed response, sufficient for operative control of executive mechanisms. A conclusion is drawn that further development of display systems will move towards creation of large colour fields (on reflection base or with multicolour gas-discharge elements)

  19. The AGS Booster control system

    International Nuclear Information System (INIS)

    Frankel, R.; Auerbach, E.; Culwick, B.; Clifford, T.; Mandell, S.; Mariotti, R.; Salwen, C.; Schumburg, N.

    1988-01-01

    Although moderate in size, the Booster construction project requires a comprehensive control system. There are three operational modes: as a high intensity proton injector for the AGS, as a heavy ion accelerator and injector supporting a wide range of ions and as a polarized proton storage injector. These requirements are met using a workstation based extension of the existing AGS control system. Since the Booster is joining a complex of existing accelerators, the new system will be capable of supporting multiuser operational scenarios. A short discussion of this system is discussed in this paper

  20. Robustly stable adaptive control of a tandem of master-slave robotic manipulators with force reflection by using a multiestimation scheme.

    Science.gov (United States)

    Ibeas, Asier; de la Sen, Manuel

    2006-10-01

    The problem of controlling a tandem of robotic manipulators composing a teleoperation system with force reflection is addressed in this paper. The final objective of this paper is twofold: 1) to design a robust control law capable of ensuring closed-loop stability for robots with uncertainties and 2) to use the so-obtained control law to improve the tracking of each robot to its corresponding reference model in comparison with previously existing controllers when the slave is interacting with the obstacle. In this way, a multiestimation-based adaptive controller is proposed. Thus, the master robot is able to follow more accurately the constrained motion defined by the slave when interacting with an obstacle than when a single-estimation-based controller is used, improving the transparency property of the teleoperation scheme. The closed-loop stability is guaranteed if a minimum residence time, which might be updated online when unknown, between different controller parameterizations is respected. Furthermore, the analysis of the teleoperation and stability capabilities of the overall scheme is carried out. Finally, some simulation examples showing the working of the multiestimation scheme complete this paper.

  1. VA National Bed Control System

    Data.gov (United States)

    Department of Veterans Affairs — The VA National Bed Control System records the levels of operating, unavailable and authorized beds at each VAMC, and it tracks requests for changes in these levels....

  2. Control mechanisms in franchise systems

    OpenAIRE

    Hass, Jörg

    2012-01-01

    This dissertation answers the question which different control mechanisms exist in a franchise system. It is the first two-sided franchise empirical analysis, regarding all outlets of the franchise system (franchisees and company-owned) as well as the franchisor. On the theoretical side, this dissertation integrates the two main management theories: principal-agent-theory and transaction cost analysis. The results show that there are used different control mechanisms in a franchise sys...

  3. A cleanroom contamination control system

    OpenAIRE

    Whyte, W.; Eaton, T.

    2002-01-01

    Analytical methods for hazard and risk analysis are being considered for controlling contamination\\ud in pharmaceutical cleanrooms. The most suitable method appears to be the HACCP system that has\\ud been developed for the food industry, but this requires some reinterpretation for use in\\ud pharmaceutical manufacturing. This paper suggests a possible system.\\ud To control contamination effectively, it is necessary to have a good appreciation of the routes and\\ud sources of contamination, and ...

  4. Nova target diagnostics control system

    International Nuclear Information System (INIS)

    Severyn, J.R.

    1985-01-01

    During the past year the Nova target diagnostics control system was finished and put in service. The diagnostics loft constructed to the north of the target room provides the environmental conditions required to collect reliable target diagnostic data. These improvements include equipment cooling and isolation of the power source with strict control of instrumentation grounds to eliminate data corruption due to electromagnetic pulses from the laser power-conditioning system or from target implosion effects

  5. The ILC global control system

    International Nuclear Information System (INIS)

    Carwardine, J.; Arnold, N.; Lenkszus, F.; Saunders, C.; Rehlich, K.; Simrock, S.; Banerjee, B.; Chase, B.; Gottschalk, E.; Joireman, P.; Kasley, P.; Lackey, S.; McBride, P.; Pavlicek, V.; Patrick, J.; Votava, M.; Wolbers, S.; Furukawa, K.; Michizono, S.; Larsen, R.S.; Downing, R.

    2008-01-01

    The scale and performance parameters of the ILC require new thinking in regards to control system design. This design work has begun quite early in comparison to most accelerator projects, with the goal of uniquely high overall accelerator availability. Among the design challenges are high control system availability, precision timing and rf phase reference distribution, standardizing of interfaces, operability, and maintainability. We present the current state of the design and take a prospective look at ongoing research and development projects.

  6. Synthesis of pneumatic controll systems

    Directory of Open Access Journals (Sweden)

    D. Nowak

    2011-04-01

    Full Text Available Currently, the basic tool for automating the production processes are the PLCs. However, in many areas application of the pneumaticcontrol systems may be more reasonable. The main factor determining choice of the control technology are costs. In the case of pneumaticsystems, the costs shall be determined by the number of elements used. Therefore, during the design works it is important to choose anappropriate method for the pneumatic control systems synthesis. The article presents the MTS method, which may be used for a discretetechnological processes modeling and PLC programming, as well as for a pneumatic control systems designing. An important element ofthe MTS method is the network of actions, which graphically presents an algorithm of the implemented process. Based on the actionnetwork and operating machine’s functional diagram, the diagram of different states is determinated, which graphically shows changes ofthe control system’s input and output signals. Analysis of the diagram of different states, makes it easy to determine a schematic equation, which shall be the basis for the control system implementation. Advantage of the MTS method is the lack of restrictions on the number of the control system’s input and output signals. The resulting solution is characterized by a minimum number of elements needed to implement the control system.

  7. NPL superconducting Linac control system

    International Nuclear Information System (INIS)

    Swanson, H.E.; Howe, M.A.; Jackson, L.W.; LaCroix, J.M.; Readdy, H.P.; Storm, D.W.; Van Houten, L.P.

    1985-01-01

    The control system for the NPL Linac is based on a Microvax II host computer connected in a star network with 9 satellite computers. These satellites use single board varsions of DEC's PDP 11 processor. The operator's console uses high performance graphics and touch screen technology to display the current linac status and as the means for interactively controlling the operation of the accelerator

  8. Contamination Control: a systems approach

    NARCIS (Netherlands)

    Donck, J.C.J. van der

    2010-01-01

    Contamination influences a wide variety of industrial processes. For complex systems, contamination control, the collective effort to control contamination to such a level that it guarantees or even improves process or product functionality, offers a way for finding workable solutions. Central in

  9. INFORMATION SYSTEM QUALITY CONTROL KNOWLEDGE

    Directory of Open Access Journals (Sweden)

    Vladimir Nikolaevich Babeshko

    2017-02-01

    Full Text Available The development of the educational system is associated with the need to control the quality of educational services. Quality control knowledge is an important part of the scientific process. The penetration of computers into all areas of activities changing approaches and technologies that previously they were used.

  10. Control system oriented human interface

    International Nuclear Information System (INIS)

    Barale, P.; Jacobson, V.; Kilgore, R.; Rondeau, D.

    1976-11-01

    The on-line control system interface for magnet beam steering and focusing in the Bevalac is described. An Aydin model 5205B display generator was chosen. This display generator will allow the computer to completely rewrite a monitor screen in less than 50 ms and is also capable of controlling a color monitor

  11. Robust power system frequency control

    CERN Document Server

    Bevrani, Hassan

    2014-01-01

    This updated edition of the industry standard reference on power system frequency control provides practical, systematic and flexible algorithms for regulating load frequency, offering new solutions to the technical challenges introduced by the escalating role of distributed generation and renewable energy sources in smart electric grids. The author emphasizes the physical constraints and practical engineering issues related to frequency in a deregulated environment, while fostering a conceptual understanding of frequency regulation and robust control techniques. The resulting control strategi

  12. The ATLAS Detector Control System

    CERN Document Server

    Schlenker, S; Kersten, S; Hirschbuehl, D; Braun, H; Poblaguev, A; Oliveira Damazio, D; Talyshev, A; Zimmermann, S; Franz, S; Gutzwiller, O; Hartert, J; Mindur, B; Tsarouchas, CA; Caforio, D; Sbarra, C; Olszowska, J; Hajduk, Z; Banas, E; Wynne, B; Robichaud-Veronneau, A; Nemecek, S; Thompson, PD; Mandic, I; Deliyergiyev, M; Polini, A; Kovalenko, S; Khomutnikov, V; Filimonov, V; Bindi, M; Stanecka, E; Martin, T; Lantzsch, K; Hoffmann, D; Huber, J; Mountricha, E; Santos, HF; Ribeiro, G; Barillari, T; Habring, J; Arabidze, G; Boterenbrood, H; Hart, R; Marques Vinagre, F; Lafarguette, P; Tartarelli, GF; Nagai, K; D'Auria, S; Chekulaev, S; Phillips, P; Ertel, E; Brenner, R; Leontsinis, S; Mitrevski, J; Grassi, V; Karakostas, K; Iakovidis, G.; Marchese, F; Aielli, G

    2011-01-01

    The ATLAS experiment is one of the multi-purpose experiments at the Large Hadron Collider (LHC), constructed to study elementary particle interactions in collisions of high-energy proton beams. Twelve different sub-detectors as well as the common experimental infrastructure are supervised by the Detector Control System (DCS). The DCS enables equipment supervision of all ATLAS sub-detectors by using a system of >130 server machines running the industrial SCADA product PVSS. This highly distributed system reads, processes and archives of the order of 106 operational parameters. Higher level control system layers allow for automatic control procedures, efficient error recognition and handling, and manage the communication with external systems such as the LHC. This contribution firstly describes the status of the ATLAS DCS and the experience gained during the LHC commissioning and the first physics data taking operation period. Secondly, the future evolution and maintenance constraints for the coming years an...

  13. IMPULSE CONTROL HYBRID ELECTRICAL SYSTEM

    Directory of Open Access Journals (Sweden)

    A. A. Lobaty

    2016-01-01

    Full Text Available This paper extends the recently introduced approach for modeling and solving the optimal control problem of fixedswitched mode DC-DC power converter. DCDC converters are a class of electric power circuits that used extensively in regulated DC power supplies, DC motor drives of different types, in Photovoltaic Station energy conversion and other applications due to its advantageous features in terms of size, weight and reliable performance. The main problem in controlling this type converters is in their hybrid nature as the switched circuit topology entails different modes of operation, each of it with its own associated linear continuous-time dynamics.This paper analyses the modeling and controller synthesis of the fixed-frequency buck DC-DC converter, in which the transistor switch is operated by a pulse sequence with constant frequency. In this case the regulation of the DC component of the output voltage is via the duty cycle. The optimization of the control system is based on the formation of the control signal at the output.It is proposed to solve the problem of optimal control of a hybrid system based on the formation of the control signal at the output of the controller, which minimizes a given functional integral quality, which is regarded as a linear quadratic Letov-Kalman functional. Search method of optimal control depends on the type of mathematical model of control object. In this case, we consider a linear deterministic model of the control system, which is common for the majority of hybrid electrical systems. For this formulation of the optimal control problem of search is a problem of analytical design of optimal controller, which has the analytical solution.As an example of the hybrid system is considered a step-down switching DC-DC converter, which is widely used in various electrical systems: as an uninterruptible power supply, battery charger for electric vehicles, the inverter in solar photovoltaic power plants.. A

  14. Commutated automatic gain control system

    Science.gov (United States)

    Yost, S. R.

    1982-01-01

    A commutated automatic gain control (AGC) system was designed and built for a prototype Loran C receiver. The receiver uses a microcomputer to control a memory aided phase-locked loop (MAPLL). The microcomputer also controls the input/output, latitude/longitude conversion, and the recently added AGC system. The circuit designed for the AGC is described, and bench and flight test results are presented. The AGC circuit described actually samples starting at a point 40 microseconds after a zero crossing determined by the software lock pulse ultimately generated by a 30 microsecond delay and add network in the receiver front end envelope detector.

  15. Computer controlled high voltage system

    Energy Technology Data Exchange (ETDEWEB)

    Kunov, B; Georgiev, G; Dimitrov, L [and others

    1996-12-31

    A multichannel computer controlled high-voltage power supply system is developed. The basic technical parameters of the system are: output voltage -100-3000 V, output current - 0-3 mA, maximum number of channels in one crate - 78. 3 refs.

  16. Nova laser alignment control system

    International Nuclear Information System (INIS)

    Van Arsdall, P.J.; Holloway, F.W.; McGuigan, D.L.; Shelton, R.T.

    1984-01-01

    Alignment of the Nova laser requires control of hundreds of optical components in the ten beam paths. Extensive application of computer technology makes daily alignment practical. The control system is designed in a manner which provides both centralized and local manual operator controls integrated with automatic closed loop alignment. Menudriven operator consoles using high resolution color graphics displays overlaid with transport touch panels allow laser personnel to interact efficiently with the computer system. Automatic alignment is accomplished by using image analysis techniques to determine beam references points from video images acquired along the laser chain. A major goal of the design is to contribute substantially to rapid experimental turnaround and consistent alignment results. This paper describes the computer-based control structure and the software methods developed for aligning this large laser system

  17. Space construction base control system

    Science.gov (United States)

    1978-01-01

    Aspects of an attitude control system were studied and developed for a large space base that is structurally flexible and whose mass properties change rather dramatically during its orbital lifetime. Topics of discussion include the following: (1) space base orbital pointing and maneuvering; (2) angular momentum sizing of actuators; (3) momentum desaturation selection and sizing; (4) multilevel control technique applied to configuration one; (5) one-dimensional model simulation; (6) N-body discrete coordinate simulation; (7) structural analysis math model formulation; and (8) discussion of control problems and control methods.

  18. Safety implications of control systems

    International Nuclear Information System (INIS)

    Smith, O.L.

    1983-01-01

    The Safety Implications of Control Systems Program has three major activities in support of USI-A47. The first task is a failure mode and effects analysis of all plant systems which may potentially induce control system disturbance that have safety implications. This task has made a preliminary study of overfill events and recommended cases for further analysis on the hybrid simulator. Work continues on overcooling and undercooling. A detailed investigation of electric power network is in progress. LERs are providing guidance on important failure modes that will provide initial conditions for further simulator studies. The simulator taks is generating a detailed model of the control system supported by appropriate neutronics, hydraulics, and thermodynamics submodels of all other principal plant components. The simulator is in the last stages of development. Checkout calculations are in progress to establish model stability, robustness, and qualitative credibility. Verification against benchmark codes and plant data will follow

  19. New Main Ring control system

    International Nuclear Information System (INIS)

    Seino, K.; Anderson, L.; Ducar, R.; Franck, A.; Gomilar, J.; Hendricks, B.; Smedinghoff, J.

    1990-03-01

    The Fermilab Main Ring control system has been operational for over sixteen years. Aging and obsolescence of the equipment make the maintenance difficult. Since the advent of the Tevatron, considerable upgrades have been made to the controls of all the Fermilab accelerators except the Main Ring. Modernization of the equipment and standardization of the hardware and software have thus become inevitable. The Tevatron CAMAC serial system has been chosen as a basic foundation in order to make the Main Ring control system compatible with the rest of the accelerator complex. New hardware pieces including intelligent CAMAC modules have been designed to satisfy unique requirements. Fiber optic cable and repeaters have been installed in order to accommodate new channel requirements onto the already saturated communication medium system. 8 refs., 2 figs

  20. The AFP Detector Control System

    CERN Document Server

    AUTHOR|(INSPIRE)INSPIRE-00514541; The ATLAS collaboration

    2017-01-01

    The ATLAS Forward Proton (AFP) detector is one of the forward detectors of the ATLAS experiment at CERN aiming at measuring momenta and angles of diffractively scattered protons. Silicon Tracking and Time-of-Flight detectors are located inside Roman Pot stations inserted into beam pipe aperture. The AFP detector is composed of two stations on each side of the ATLAS interaction point and is under commissioning. The detector is provided with high and low voltage distribution systems. Each station has vacuum and cooling systems, movement control and all the required electronics for signal processing. Monitoring of environmental parameters, like temperature and radiation, is also available. The Detector Control System (DCS) provides control and monitoring of the detector hardware and ensures the safe and reliable operation of the detector, assuring good data quality. Comparing with DCS systems of other detectors, the AFP DCS main challenge is to cope with the large variety of AFP equipment. This paper describes t...

  1. The AFP detector control system

    CERN Document Server

    AUTHOR|(INSPIRE)INSPIRE-00514541; The ATLAS collaboration; Caforio, Davide; Czekierda, Sabina; Hajduk, Zbigniew; Olszowska, Jolanta; Sicho, Petr; Zabinski, Bartlomiej

    The ATLAS Forward Proton (AFP) detector is one of the forward detectors of the ATLAS experiment at CERN aiming at measuring momenta and angles of diffractively scattered protons. Silicon Tracking and Time-of-Flight detectors are located inside Roman Pot stations inserted into beam pipe aperture. The AFP detector is composed of two stations on each side of the ATLAS interaction point and is under commissioning. The detector is provided with high and low voltage distribution systems. Each station has vacuum and cooling systems, movement control and all the required electronics for signal processing. Monitoring of environmental parameters, like temperature and radiation, is also available. The Detector Control System (DCS) provides control and monitoring of the detector hardware and ensures the safe and reliable operation of the detector, assuring good data quality. Comparing with DCS systems of other detectors, the AFP DCS main challenge is to cope with the large variety of AFP equipment. This paper describes t...

  2. LEDA LLRF control system characterization

    International Nuclear Information System (INIS)

    Regan, A.H.; Balleyguier, P.; Ziomek, C.D.

    1998-01-01

    The Low Energy Demonstration Accelerator (LEDA) for the Accelerator for the Production of Tritium (APT) project will be built at Los Alamos National Laboratory. The low-level RF (LLRF) control system portion of this accelerator must perform many functions, of which the primary one is controlling the RF fields in the accelerating cavities. Plans have been made to provide for on-line characterization of the LLRF control system and the complete RF system through use of stimulus and response buffers, and a digital signal processor built into the field control system electronics. The purpose of this circuitry is to characterize the behavior of the entire RF system (klystron, waveguides, high power splitters, accelerator cavity, etc.). This characterization feature can be used to measure the performance of the closed loop system with respect to the open loop system, to provide an automated way to set loop parameters, to determine the cavity Q-curve, and to detect any abnormal behavior in the RF chain. The types of measurements include frequency and time-domain responses to given perturbations, amplitude modulations, etc. This paper will discuss types of algorithms that can be implemented and present a description and block diagram of the electronics to be used

  3. The new Aladdin control system

    International Nuclear Information System (INIS)

    Stott, J.P.; Eisert, D.E.

    1990-01-01

    The preliminary design of the new control system for the Aladdin electron-storage-ring light source was described at the Los Alamos workshop and an updated report was given at the Villars conference. The new system is now almost completely installed and this paper is a final report on the project. The major features of the system are the following: commercial hardware is used throughout the computer, network and microcomputer systems; the operator consoles and the device-control microcomputers are linked by Ethernet; VAXstations with keyboard and track-ball input devices are used in the operator consoles; the microcomputers use 68000-based single-board computers and VMEbus backplanes; the main magnet power supplies contain intelligent controllers which are linked to a microcomputer by a multidrop serial link; the microcomputer software is developed on the VAXstations; it is downloaded into RAM and debugged over the Ethernet before being burned into EPROMs for operational use. This paper describes the design of the system, highlighting changes from the previous proposals, and discusses the aspects which allowed the control system of an operating facility to be rebuilt without requiring or causing any significant downtime. The performance of the new system and possible future improvements are also discussed. (orig.)

  4. Development of similarity theory for control systems

    Science.gov (United States)

    Myshlyaev, L. P.; Evtushenko, V. F.; Ivushkin, K. A.; Makarov, G. V.

    2018-05-01

    The area of effective application of the traditional similarity theory and the need necessity of its development for systems are discussed. The main statements underlying the similarity theory of control systems are given. The conditions for the similarity of control systems and the need for similarity control control are formulated. Methods and algorithms for estimating and similarity control of control systems and the results of research of control systems based on their similarity are presented. The similarity control of systems includes the current evaluation of the degree of similarity of control systems and the development of actions controlling similarity, and the corresponding targeted change in the state of any element of control systems.

  5. Component Control System for a Vehicle

    Science.gov (United States)

    Fraser-Chanpong, Nathan (Inventor); Spain, Ivan (Inventor); Dawson, Andrew D. (Inventor); Bluethmann, William J. (Inventor); Lee, Chunhao J. (Inventor); Vitale, Robert L. (Inventor); Guo, Raymond (Inventor); Waligora, Thomas M. (Inventor); Akinyode, Akinjide Akinniyi (Inventor); Reed, Ryan M. (Inventor)

    2016-01-01

    A vehicle includes a chassis, a modular component, and a central operating system. The modular component is supported by the chassis. The central operating system includes a component control system, a primary master controller, and a secondary master controller. The component control system is configured for controlling the modular component. The primary and secondary master controllers are in operative communication with the component control system. The primary and secondary master controllers are configured to simultaneously transmit commands to the component control system. The component control system is configured to accept commands from the secondary master controller only when a fault occurs in the primary master controller.

  6. Digital control system of advanced reactor

    International Nuclear Information System (INIS)

    Peng Huaqing; Zhang Rui; Liu Lixin

    2001-01-01

    This article produced the Digital Control System For Advanced Reactor made by NPIC. This system uses Siemens SIMATIC PCS 7 process control system and includes five control system: reactor power control system, pressurizer level control system, pressurizer pressure control system, steam generator water level control system and dump control system. This system uses three automatic station to realize the function of five control system. Because the safety requisition of reactor is very strict, the system is redundant. The system configuration uses CFC and SCL. the human-machine interface is configured by Wincc. Finally the system passed the test of simulation by using RETRAN 02 to simulate the control object. The research solved the key technology of digital control system of reactor and will be very helpful for the nationalization of digital reactor control system

  7. The CESR computer control system

    International Nuclear Information System (INIS)

    Helmke, R.G.; Rice, D.H.; Strohman, C.

    1986-01-01

    The control system for the Cornell Electron Storage Ring (CESR) has functioned satisfactorily since its implementation in 1979. Key characteristics are fast tuning response, almost exclusive use of FORTRAN as a programming language, and efficient coordinated ramping of CESR guide field elements. This original system has not, however, been able to keep pace with the increasing complexity of operation of CESR associated with performance upgrades. Limitations in address space, expandability, access to data system-wide, and program development impediments have prompted the undertaking of a major upgrade. The system under development accomodates up to 8 VAX computers for all applications programs. The database and communications semaphores reside in a shared multi-ported memory, and each hardware interface bus is controlled by a dedicated 32 bit micro-processor in a VME based system. (orig.)

  8. Proton beam therapy control system

    Science.gov (United States)

    Baumann, Michael A [Riverside, CA; Beloussov, Alexandre V [Bernardino, CA; Bakir, Julide [Alta Loma, CA; Armon, Deganit [Redlands, CA; Olsen, Howard B [Colton, CA; Salem, Dana [Riverside, CA

    2008-07-08

    A tiered communications architecture for managing network traffic in a distributed system. Communication between client or control computers and a plurality of hardware devices is administered by agent and monitor devices whose activities are coordinated to reduce the number of open channels or sockets. The communications architecture also improves the transparency and scalability of the distributed system by reducing network mapping dependence. The architecture is desirably implemented in a proton beam therapy system to provide flexible security policies which improve patent safety and facilitate system maintenance and development.

  9. Control synthesis of switched systems

    CERN Document Server

    Zhao, Xudong; Niu, Ben; Wu, Tingting

    2017-01-01

    This book offers its readers a detailed overview of the synthesis of switched systems, with a focus on switching stabilization and intelligent control. The problems investigated are not only previously unsolved theoretically but also of practical importance in many applications: voltage conversion, naval piloting and navigation and robotics, for example. The book considers general switched-system models and provides more efficient design methods to bring together theory and application more closely than was possible using classical methods. It also discusses several different classes of switched systems. For general switched linear systems and switched nonlinear systems comprising unstable subsystems, it introduces novel ideas such as invariant subspace theory and the time-scheduled Lyapunov function method of designing switching signals to stabilize the underlying systems. For some typical switched nonlinear systems affected by various complex dynamics, the book proposes novel design approaches based on inte...

  10. Photoirradiation system with temperature control

    International Nuclear Information System (INIS)

    Yonadab Lopez, F.; Stolik, S.; La Rosa, J. M. de; Moreno, E.

    2012-01-01

    During application of phototherapy is possible to induce a significant increase in tissue temperature and generate a localized hyperthermia state if the power density of incident light is high enough. We present a controlled temperature phototherapy system, this allows the application of optical radiation at a wavelength of 630nm using a light emitting diode (LED) of high power. The system automatically controls the irradiation time and power which allows irradiating the tissue with an appropriate energy density. A thermocouple is placed in the irradiated tissue to measure and control the temperature by varying the parameters of power density and time. From results of irradiations made in nu / nu mice using doses of 150 J/cm 2 energy and 250 J/cm 2 shows that the temperature control allows the study of photodynamic therapy in synergy with thermo therapy in different diseases external tissues. (Author)

  11. Trends in accelerator control systems

    International Nuclear Information System (INIS)

    Crowley-Milling, M.C.

    1984-04-01

    Over the years, we have seen a revolution in control systems that has followed the ever decreasing cost of computer power and memory. It started with the data gathering, when people distrusted the computer to perform control actions correctly, through the stage of using a computer to perform control actions correctly, through the stage of using a computer system to provide a convenient remote look and adjust facility, to the present day, when more and more emphasis is being placed on using a computer system to simulate or model all or parts of the accelerator, feed in the required performance and calling for the computers to set the various parameters and then measure the actual performance, with iteration if necessary. The progress that has been made in the fields of architecture, communications, computers, interface, software design and operator interface is reviewed

  12. Radiation-hardened control system

    International Nuclear Information System (INIS)

    Vandermolen, R.I.; Smith, S.F.; Emery, M.S.

    1993-01-01

    A radiation-hardened bit-slice control system with associated input/output circuits was developed to prove that programmable circuits could be constructed to successfully implement intelligent functions in a highly radioactive environment. The goal for this effort was to design and test a programmable control system that could withstand a minimum total dose of 10 7 rads (gamma). The Radiation Hardened Control System (RHCS) was tested in operation at a dose rate that ranged up to 135 krad/h, with an average total dose of 10.75 Mrads. Further testing beyond the required 10 7 rads was also conducted. RHCS performed properly through the target dose of 10 7 rads, and sporadic intermittent failures in some programmable logic devices were noted after ∼ 13 Mrads

  13. Power system dynamics and control

    CERN Document Server

    Kwatny, Harry G

    2016-01-01

    This monograph explores a consistent modeling and analytic framework that provides the tools for an improved understanding of the behavior and the building of efficient models of power systems. It covers the essential concepts for the study of static and dynamic network stability, reviews the structure and design of basic voltage and load-frequency regulators, and offers an introduction to power system optimal control with reliability constraints. A set of Mathematica tutorial notebooks providing detailed solutions of the examples worked-out in the text, as well as a package that will enable readers to work out their own examples and problems, supplements the text. A key premise of the book is that the design of successful control systems requires a deep understanding of the processes to be controlled; as such, the technical discussion begins with a concise review of the physical foundations of electricity and magnetism. This is followed by an overview of nonlinear circuits that include resistors, inductors, ...

  14. Advanced Light Source control system

    International Nuclear Information System (INIS)

    Magyary, S.; Chin, M.; Cork, C.; Fahmie, M.; Lancaster, H.; Molinari, P.; Ritchie, A.; Robb, A.; Timossi, C.

    1989-03-01

    The Advanced Light Source (ALS) is a third generation 1--2 GeV synchrotron radiation source designed to provide ports for 60 beamlines. It uses a 50 MeV electron linac and 1.5 GeV, 1 Hz, booster synchrotron for injection into a 1--2 GeV storage ring. Interesting control problems are created because of the need for dynamic closed beam orbit control to eliminate interaction between the ring tuning requirements and to minimize orbit shifts due to ground vibrations. The extremely signal sensitive nature of the experiments requires special attention to the sources of electrical noise. These requirements have led to a control system design which emphasizes connectivity at the accelerator equipment end and a large I/O bandwidth for closed loop system response. Not overlooked are user friendliness, operator response time, modeling, and expert system provisions. Portable consoles are used for local operation of machine equipment. Our solution is a massively parallel system with >120 Mbits/sec I/O bandwidth and >1500 Mips computing power. At the equipment level connections are made using over 600 powerful Intelligent Local Controllers (ILC-s) mounted in 3U size Eurocard slots using fiber-optic cables between rack locations. In the control room, personal computers control and display all machine variables at a 10 Hz rate including the scope signals which are collected though the control system. Commercially available software and industry standards are used extensively. Particular attention is paid to reliability, maintainability and upgradeability. 10 refs., 11 figs

  15. Regulation on control systems tests

    International Nuclear Information System (INIS)

    Grau, J.; Navarro, J.M.

    1978-01-01

    Requirements under regulation applicable to the testing of control systems and controlled equipments in the case of USA nuclear projects are examined. They are reviewed, in particular, the following standards and criteria: 10 Code of Federal Regulations 50, Appendix A, General Design Criteria 20 and 21; IEEE Standards 279 and 308; IEEE Standard 338; US Regulatory Guides 1.22 and 1.118.(J.E.de C.)

  16. Control systems for experimental physics

    International Nuclear Information System (INIS)

    Anon.

    1988-01-01

    At an international conference last year at Villars-sur-Ollon (Switzerland), scientists from all over the world looked at the problems of controlling complex physics installations, including particle accelerators, nuclear reactors, large telescopes and high energy physics detectors. The meeting, organized by the European Physical Society's Interdivisional Group on Experimental Physics Control Systems, EPCS, brought together 180 scientists from the world's leading experimental physics research laboratories, universities and industries

  17. The CMS tracker control system

    International Nuclear Information System (INIS)

    Dierlamm, A; Dirkes, G H; Fahrer, M; Frey, M; Hartmann, F; Masetti, L; Militaru, O; Shah, S Y; Stringer, R; Tsirou, A

    2008-01-01

    The Tracker Control System (TCS) is a distributed control software to operate about 2000 power supplies for the silicon modules of the CMS Tracker and monitor its environmental sensors. TCS must thus be able to handle about 10 4 power supply parameters, about 10 3 environmental probes from the Programmable Logic Controllers of the Tracker Safety System (TSS), about 10 5 parameters read via DAQ from the DCUs in all front end hybrids and from CCUs in all control groups. TCS is built on top of an industrial SCADA program (PVSS) extended with a framework developed at CERN (JCOP) and used by all LHC experiments. The logical partitioning of the detector is reflected in the hierarchical structure of the TCS, where commands move down to the individual hardware devices, while states are reported up to the root which is interfaced to the broader CMS control system. The system computes and continuously monitors the mean and maximum values of critical parameters and updates the percentage of currently operating hardware. Automatic procedures switch off selected parts of the detector using detailed granularity and avoiding widespread TSS intervention

  18. The CMS tracker control system

    Science.gov (United States)

    Dierlamm, A.; Dirkes, G. H.; Fahrer, M.; Frey, M.; Hartmann, F.; Masetti, L.; Militaru, O.; Shah, S. Y.; Stringer, R.; Tsirou, A.

    2008-07-01

    The Tracker Control System (TCS) is a distributed control software to operate about 2000 power supplies for the silicon modules of the CMS Tracker and monitor its environmental sensors. TCS must thus be able to handle about 104 power supply parameters, about 103 environmental probes from the Programmable Logic Controllers of the Tracker Safety System (TSS), about 105 parameters read via DAQ from the DCUs in all front end hybrids and from CCUs in all control groups. TCS is built on top of an industrial SCADA program (PVSS) extended with a framework developed at CERN (JCOP) and used by all LHC experiments. The logical partitioning of the detector is reflected in the hierarchical structure of the TCS, where commands move down to the individual hardware devices, while states are reported up to the root which is interfaced to the broader CMS control system. The system computes and continuously monitors the mean and maximum values of critical parameters and updates the percentage of currently operating hardware. Automatic procedures switch off selected parts of the detector using detailed granularity and avoiding widespread TSS intervention.

  19. Integrated Control System Engineering Support.

    Science.gov (United States)

    1984-12-01

    Advanced Medium Range Air to Air Missile ASTEC Advanced Speech Technology Experimental Configuration BA Body Axis BCIU Bus Control Interface Unit BMU Bus...support nreeded to tie an ASTEC speech recognition system into the DIGISYN fJcility and support an FIGR experiment designed to investigate the voice...information passed to the PDP computer consisted of integers which represented words or phrases recognized by the ASTEC recognition system. An interface

  20. Towards a Location-based Service for Early Mental Health Interventions in Disaster Response Using Minimalistic Tele-operated Android Robots Technology

    Science.gov (United States)

    Vahidi, H.; Mobasheri, A.; Alimardani, M.; Guan, Q.; Bakillah, M.

    2014-04-01

    Providing early mental health services during disaster is a great challenge in the disaster response phase. Lack of access to adequate mental-health professionals in the early stages of large-scale disasters dramatically influences the trend of a successful mental health aid. In this paper, a conceptual framework has been suggested for adopting cellphone-type tele-operated android robots in the early stages of disasters for providing the early mental health services for disaster survivors by developing a locationbased and participatory approach. The techniques of enabling GI-services in a Peer-to-Peer (P2P) environment were studied to overcome the limitations of current centralized services. Therefore, the aim of this research study is to add more flexibility and autonomy to GI web services (WMS, WFS, WPS, etc.) and alleviate to some degree the inherent limitations of these centralized systems. A P2P system Architecture is presented for the location-based service using minimalistic tele-operated android robots, and some key techniques of implementing this service using BestPeer were studied for developing this framework.

  1. Satellite Attitude Control System Simulator

    Directory of Open Access Journals (Sweden)

    G.T. Conti

    2008-01-01

    Full Text Available Future space missions will involve satellites with great autonomy and stringent pointing precision, requiring of the Attitude Control Systems (ACS with better performance than before, which is function of the control algorithms implemented on board computers. The difficulties for developing experimental ACS test is to obtain zero gravity and torque free conditions similar to the SCA operate in space. However, prototypes for control algorithms experimental verification are fundamental for space mission success. This paper presents the parameters estimation such as inertia matrix and position of mass centre of a Satellite Attitude Control System Simulator (SACSS, using algorithms based on least square regression and least square recursive methods. Simulations have shown that both methods have estimated the system parameters with small error. However, the least square recursive methods have performance more adequate for the SACSS objectives. The SACSS platform model will be used to do experimental verification of fundamental aspects of the satellite attitude dynamics and design of different attitude control algorithm.

  2. Cockpit control system conceptual design

    Science.gov (United States)

    Meholic, Greg; Brown, Rhonda; Hall, Melissa; Harvey, Robert; Singer, Michael; Tella, Gustavo

    1993-01-01

    The purpose of this project was to provide a means for operating the ailerons, elevator, elevator trim, rudder, nosewheel steering, and brakes in the Triton primary flight trainer. The main design goals under consideration were to illustrate system and subsystem integration, control function ability, and producibility. Weight and maintenance goals were addressed.

  3. Neutron flux control systems validation

    International Nuclear Information System (INIS)

    Hascik, R.

    2003-01-01

    In nuclear installations main requirement is to obtain corresponding nuclear safety in all operation conditions. From the nuclear safety point of view is commissioning and start-up after reactor refuelling appropriate period for safety systems verification. In this paper, methodology, performance and results of neutron flux measurements systems validation is presented. Standard neutron flux measuring chains incorporated into the reactor protection and control system are used. Standard neutron flux measuring chain contains detector, preamplifier, wiring to data acquisition unit, data acquisition unit, wiring to display at control room and display at control room. During reactor outage only data acquisition unit and wiring and displaying at reactor control room is verified. It is impossible to verify detector, preamplifier and wiring to data acquisition recording unit during reactor refuelling according to low power. Adjustment and accurate functionality of these chains is confirmed by start-up rate (SUR) measurement during start-up tests after refuelling of the reactors. This measurement has direct impact to nuclear safety and increase operational nuclear safety level. Briefly description of each measuring system is given. Results are illustrated on measurements performed at Bohunice NPP during reactor start-up tests. Main failures and their elimination are described (Authors)

  4. Controlling dynamics in diatomic systems

    Indian Academy of Sciences (India)

    WINTEC

    Abstract. Controlling molecular energetics using laser pulses is exemplified for nuclear motion in two different diatomic systems. The problem of finding the optimized field for maximizing a desired quantum dynamical target is formulated using an iterative method. The method is applied for two diatomic sys- tems, HF and OH.

  5. Beam based systems and controls

    CERN Document Server

    Jacquet, D

    2012-01-01

    This presentation will give a review from the operations team of the performance and issues of the beam based systems, namely RF, ADT, beam instrumentation, controls and injection systems. For each of these systems, statistics on performance and availability will be presented with the main issues encountered in 2012. The possible improvements for operational efficiency and safety will be discussed, with an attempt to answer the question "Are we ready for the new challenges brought by the 25ns beam and increased energy after LSI? ".

  6. Accelerator control systems without minicomputers

    International Nuclear Information System (INIS)

    Altaber, J.; Beck, F.; Rausch, R.

    1980-01-01

    A paper given last year described in general terms a plan for the control of a large machine using assemblies of microcomputer units which simulate a conventional minicomputer by multiprocessing. In every other way the SPS control philosophy is followed. The design of a model assembly has allowed us to learn something about the protocols needed inside and between assemblies, as well as to assess more accurately what level of technology it is reasonable to apply. In any control system of this kind it would be desirable to allow engineering contributions from a variety of sources, and yet ensure the homogeneity needed for the system to remain reliable and comprehensible. Methods of achieving this are discussed. (Auth.)

  7. The ATLAS detector control system

    International Nuclear Information System (INIS)

    Schlenker, S.; Arfaoui, S.; Franz, S.

    2012-01-01

    The ATLAS experiment is one of the multi-purpose experiments at the Large Hadron Collider (LHC), constructed to study elementary particle interactions in collisions of high-energy proton beams. Twelve different sub-detectors as well as the common experimental infrastructure are supervised by the Detector Control System (DCS). The DCS enables equipment supervision of all ATLAS sub-detectors by using a system of more that 130 server machines running the industrial SCADA product PVSS. This highly distributed system reads, processes and archives of the order of 10 6 operational parameters. Higher level control system layers allow for automatic control procedures, efficient error recognition and handling, and manage the communication with external systems such as the LHC. First, this contribution describes the status of the ATLAS DCS and the experience gained during the LHC commissioning and the first physics data taking operation period. Secondly, the future evolution and maintenance constraints for the coming years and the LHC high luminosity upgrades are outlined. (authors)

  8. Lighting system with illuminance control

    DEFF Research Database (Denmark)

    2013-01-01

    The present invention relates to an illumination control system comprising a plurality of outdoor luminaries and a motorized service vehicle. Each luminaire comprises a controllable light source producing a light illuminance. The motorized service vehicle comprises a light sensor configured...... to detect the light illuminance generated by the controllable light source at the motorized service vehicle. The motorized service vehicle computes light illuminance data based on the detected light illuminance and transmits these to the outdoor luminaire through a wireless communication link or stores...... the light illuminance data on a data recording device of the motorized service vehicle. The outdoor luminaire receives may use the light illuminance data to set or adjust a light illuminance of the controllable light source....

  9. Robust lyapunov controller for uncertain systems

    KAUST Repository

    Laleg-Kirati, Taous-Meriem; Elmetennani, Shahrazed

    2017-01-01

    Various examples of systems and methods are provided for Lyapunov control for uncertain systems. In one example, a system includes a process plant and a robust Lyapunov controller configured to control an input of the process plant. The robust

  10. The NSTX Central Instrumentation and Control System

    International Nuclear Information System (INIS)

    G. Oliaro; J. Dong; K. Tindall; P. Sichta

    1999-01-01

    Earlier this year the National Spherical Torus Experiment (NSTX) at the Princeton Plasma Physics Laboratory achieved ''first plasma''. The Central Instrumentation and Control System was used to support plasma operations. Major elements of the system include the Process Control System, Plasma Control System, Network System, Data Acquisition System, and Synchronization System. This paper will focus on the Process Control System. Topics include the architecture, hardware interface, operator interface, data management, and system performance

  11. Cyber Incidents Involving Control Systems

    Energy Technology Data Exchange (ETDEWEB)

    Robert J. Turk

    2005-10-01

    The Analysis Function of the US-CERT Control Systems Security Center (CSSC) at the Idaho National Laboratory (INL) has prepared this report to document cyber security incidents for use by the CSSC. The description and analysis of incidents reported herein support three CSSC tasks: establishing a business case; increasing security awareness and private and corporate participation related to enhanced cyber security of control systems; and providing informational material to support model development and prioritize activities for CSSC. The stated mission of CSSC is to reduce vulnerability of critical infrastructure to cyber attack on control systems. As stated in the Incident Management Tool Requirements (August 2005) ''Vulnerability reduction is promoted by risk analysis that tracks actual risk, emphasizes high risk, determines risk reduction as a function of countermeasures, tracks increase of risk due to external influence, and measures success of the vulnerability reduction program''. Process control and Supervisory Control and Data Acquisition (SCADA) systems, with their reliance on proprietary networks and hardware, have long been considered immune to the network attacks that have wreaked so much havoc on corporate information systems. New research indicates this confidence is misplaced--the move to open standards such as Ethernet, Transmission Control Protocol/Internet Protocol, and Web technologies is allowing hackers to take advantage of the control industry's unawareness. Much of the available information about cyber incidents represents a characterization as opposed to an analysis of events. The lack of good analyses reflects an overall weakness in reporting requirements as well as the fact that to date there have been very few serious cyber attacks on control systems. Most companies prefer not to share cyber attack incident data because of potential financial repercussions. Uniform reporting requirements will do much to make this

  12. Encyclopedia of systems and control

    CERN Document Server

    Samad, Tariq

    2015-01-01

    The Encyclopedia of Systems and Control collects a broad range of short expository articles that describe the current state of the art in the central topics of control and systems engineering as well as in many of the related fields in which control is an enabling technology. The editors have assembled the most comprehensive reference possible, and this has been greatly facilitated by the publisher’s commitment continuously to publish updates to the articles as they become available in the future. Although control engineering is now a mature discipline, it remains an area in which there is a great deal of research activity, and as new developments in both theory and applications become available, they will be included in the online version of the encyclopedia. A carefully chosen team of leading authorities in the field has written the well over 200 articles that comprise the work. The topics range from basic principles of feedback in servomechanisms to advanced topics such as the control of Boolean networks...

  13. Detection of Nuclear Sources by UAV Teleoperation Using a Visuo-Haptic Augmented Reality Interface

    OpenAIRE

    Jacopo Aleotti; Giorgio Micconi; Stefano Caselli; Giacomo Benassi; Nicola Zambelli; Manuele Bettelli; Andrea Zappettini

    2017-01-01

    A visuo-haptic augmented reality (VHAR) interface is presented enabling an operator to teleoperate an unmanned aerial vehicle (UAV) equipped with a custom CdZnTe-based spectroscopic gamma-ray detector in outdoor environments. The task is to localize nuclear radiation sources, whose location is unknown to the user, without the close exposure of the operator. The developed detector also enables identification of the localized nuclear sources. The aim of the VHAR interface is to increase the sit...

  14. Robust lyapunov controller for uncertain systems

    KAUST Repository

    Laleg-Kirati, Taous-Meriem

    2017-02-23

    Various examples of systems and methods are provided for Lyapunov control for uncertain systems. In one example, a system includes a process plant and a robust Lyapunov controller configured to control an input of the process plant. The robust Lyapunov controller includes an inner closed loop Lyapunov controller and an outer closed loop error stabilizer. In another example, a method includes monitoring a system output of a process plant; generating an estimated system control input based upon a defined output reference; generating a system control input using the estimated system control input and a compensation term; and adjusting the process plant based upon the system control input to force the system output to track the defined output reference. An inner closed loop Lyapunov controller can generate the estimated system control input and an outer closed loop error stabilizer can generate the system control input.

  15. Automation and Robotics for Space-Based Systems, 1991

    Science.gov (United States)

    Williams, Robert L., II (Editor)

    1992-01-01

    The purpose of this in-house workshop was to assess the state-of-the-art of automation and robotics for space operations from an LaRC perspective and to identify areas of opportunity for future research. Over half of the presentations came from the Automation Technology Branch, covering telerobotic control, extravehicular activity (EVA) and intra-vehicular activity (IVA) robotics, hand controllers for teleoperation, sensors, neural networks, and automated structural assembly, all applied to space missions. Other talks covered the Remote Manipulator System (RMS) active damping augmentation, space crane work, modeling, simulation, and control of large, flexible space manipulators, and virtual passive controller designs for space robots.

  16. Control system for gamma camera

    International Nuclear Information System (INIS)

    Miller, D.W.

    1977-01-01

    An improved gamma camera arrangement is described which utilizing a solid state detector, formed of high purity germanium. the central arrangement of the camera operates to effect the carrying out of a trapezoidal filtering operation over antisymmetrically summed spatial signals through gated integration procedures utilizing idealized integrating intervals. By simultaneously carrying out peak energy evaluation of the input signals, a desirable control over pulse pile-up phenomena is achieved. Additionally, through the use of the time derivative of incoming pulse or signal energy information to initially enable the control system, a low level information evaluation is provided serving to enhance the signal processing efficiency of the camera

  17. Isolation contactor state control system

    Energy Technology Data Exchange (ETDEWEB)

    Bissontz, Jay E.

    2017-05-16

    A controller area network (CAN) installed on a hybrid electric vehicle provides one node with control of high voltage power distribution system isolation contactors and the capacity to energize a secondary electro-mechanical relay device. The output of the secondary relay provides a redundant and persistent backup signal to the output of the node. The secondary relay is relatively immune to CAN message traffic interruptions and, as a result, the high voltage isolation contactor(s) are less likely to transition open in the event that the intelligent output driver should fail.

  18. Quantum control of optomechanical systems

    International Nuclear Information System (INIS)

    Hofer, S.

    2015-01-01

    This thesis explores the prospects of entanglement-enhanced quantum control of optomechanical systems. We first discuss several pulsed schemes in which the radiation-pressure interaction is used to generate EPR entanglement between the mechanical mode of a cavity-optomechanical system and a travelling-wave light pulse. The entanglement created in this way can be used as a resource for mechanical state preparation. On the basis of this protocol, we introduce an optomechanical teleportation scheme to transfer an arbitrary light state onto the mechanical system. Furthermore, we describe how one can create a mechanical non-classical state (i.e., a state with a negative Wigner function) by single-photon detection, and, in a similar protocol, how optomechanical systems can be used to demonstrate the violation of a Bell inequality. The second part of the thesis is dedicated to time-continuous quantum control protocols. Making use of optimal-control techniques, we analyse measurement-based feedback cooling of a mechanical oscillator and demonstrate that ground-state cooling is achievable in the sideband-resolved, blue-detuned regime. We then extend this homodyne-detection based setup and introduce the notion of a time-continuous Bell measurement---a generalisation of the standard continuous variable Bell measurement to a continuous measurement setting. Combining this concept with continuous feedback we analyse the generation of a squeezed mechanical steady state via time-continuous teleportation, and the creation of bipartite mechanical entanglement by entanglement swapping. Finally we discuss an experiment demonstrating the evaluation of the conditional optomechanical quantum state by Kalman filtering, constituting a important step towards time-continuous quantum control of optomechanical systems and the possible realisation of the protocols presented in this thesis. (author) [de

  19. Multiagent voltage and reactive power control system

    Directory of Open Access Journals (Sweden)

    I. Arkhipov

    2014-12-01

    Full Text Available This paper is devoted to the research of multiagent voltage and reactive power control system development. The prototype of the system has been developed by R&D Center at FGC UES (Russia. The control system architecture is based on the innovative multiagent system theory application that leads to the achievement of several significant advantages (in comparison to traditional control systems implementation such as control system efficiency enhancement, control system survivability and cyber security.

  20. Plug-and-Play Control – Modifying Control Systems Online

    DEFF Research Database (Denmark)

    Bendtsen, Jan Dimon; Trangbæk, K; Stoustrup, Jakob

    2013-01-01

    Often, when new sensor or actuator hardware be- comes available for use in a control system, it is desirable to retain the existing control system and apply the new control capabilities in a gradual fashion rather than decommissioning the entire existing system and replacing it with an altogether...... new control system. However, this requires that the existing controller remains in action, and the new control law component is added to the existing system. This paper formally introduces the concept of Plug-and-Play control and proposes two different methods of introducing new control components...

  1. Low-Latency Teleoperations for Human Exploration and Evolvable Mars Campaign

    Science.gov (United States)

    Lupisella, Mark; Wright, Michael; Arney, Dale; Gershman, Bob; Stillwagen, Fred; Bobskill, Marianne; Johnson, James; Shyface, Hilary; Larman, Kevin; Lewis, Ruthan; hide

    2015-01-01

    NASA has been analyzing a number of mission concepts and activities that involve low-latency telerobotic (LLT) operations. One mission concept that will be covered in this presentation is Crew-Assisted Sample Return which involves the crew acquiring samples (1) that have already been delivered to space, and or acquiring samples via LLT from orbit to a planetary surface and then launching the samples to space to be captured in space and then returned to the earth with the crew. Both versions of have key roles for low-latency teleoperations. More broadly, the NASA Evolvable Mars Campaign is exploring a number of other activities that involve LLT, such as: (a) human asteroid missions, (b) PhobosDeimos missions, (c) Mars human landing site reconnaissance and site preparation, and (d) Mars sample handling and analysis. Many of these activities could be conducted from Mars orbit and also with the crew on the Mars surface remotely operating assets elsewhere on the surface, e.g. for exploring Mars special regions and or teleoperating a sample analysis laboratory both of which may help address planetary protection concerns. The operational and technology implications of low-latency teleoperations will be explored, including discussion of relevant items in the NASA Technology Roadmap and also how previously deployed robotic assets from any source could subsequently be used by astronauts via LLT.

  2. Teleoperación de un vehículo remoto en un medio de acceso inalámbrico mediante el uso de una interfaz háptica Remote vehicle teleoperation through a haptic interface

    Directory of Open Access Journals (Sweden)

    Arys Carrasquilla Batista

    2012-11-01

    Full Text Available La teleoperación permite que el ser humano pueda llevar a cabo ciertas tareas en lugares muy lejanos, de difícil acceso o de condiciones hostiles para la presencia de un operador. Con este proyecto se logró teleoperar un vehículo remoto por medio del protocolo de comunicación Bluetooth, para lo cual se adaptó una interfaz háptica (Novint Falcon. Desde la interfaz, el operador puede enviar la consigna de movimiento y, además, obtener sensaciones conforme a la información de los sensores incluidos al sistema. Como vehículo remoto se utilizó un Lego Mindstorms con capacidad de comunicación Bluetooth, al cual se incorporó un sensor de contacto y otro de ultrasonido con el fin de percibir en la interfaz háptica la retroalimentación de fuerzas. A una computadora estándar se le dio capacidad de comunicación Bluetooth por medio de un adaptador USB, desde la cual se ejecuta un programa creado en C++ para controlar las acciones de la interfaz háptica, enviar los comandos de movimiento al vehículo y recibir la información de los sensores, la cual reproduce sensaciones al operador.Teleoperation allows human beings to carry out certain tasks in places far away, inaccessible or with hostile conditions for the presence of an operator. In this project a remote vehicle is teleoperated using a bluetooth wireless connection, to accomplish this an haptic interface (Novint Falcon was used. The operator can give movement instructions to the vehicle and obtain sensations, according to the information received from the sensors connected to the system. The remote vehicle was a Lego Mindstorms with bluetooth communication capabilities, a touch sensor and ultrasonic sensor were included in order to perceive reflection of forces through the haptic interface. A USB adapter for bluetooth communication was added to a standard computer; a program in C++ is executed over this computer to control the haptic interface, send movement commands to the vehicle and

  3. Controls and Machine Protection Systems

    CERN Document Server

    Carrone, E.

    2016-01-01

    Machine protection, as part of accelerator control systems, can be managed with a 'functional safety' approach, which takes into account product life cycle, processes, quality, industrial standards and cybersafety. This paper will discuss strategies to manage such complexity and the related risks, with particular attention to fail-safe design and safety integrity levels, software and hardware standards, testing, and verification philosophy. It will also discuss an implementation of a machine protection system at the SLAC National Accelerator Laboratory's Linac Coherent Light Source (LCLS).

  4. Autonomous grain combine control system

    Science.gov (United States)

    Hoskinson, Reed L.; Kenney, Kevin L.; Lucas, James R.; Prickel, Marvin A.

    2013-06-25

    A system for controlling a grain combine having a rotor/cylinder, a sieve, a fan, a concave, a feeder, a header, an engine, and a control system. The feeder of the grain combine is engaged and the header is lowered. A separator loss target, engine load target, and a sieve loss target are selected. Grain is harvested with the lowered header passing the grain through the engaged feeder. Separator loss, sieve loss, engine load and ground speed of the grain combine are continuously monitored during the harvesting. If the monitored separator loss exceeds the selected separator loss target, the speed of the rotor/cylinder, the concave setting, the engine load target, or a combination thereof is adjusted. If the monitored sieve loss exceeds the selected sieve loss target, the speed of the fan, the size of the sieve openings, or the engine load target is adjusted.

  5. Radiation-resistant control system

    International Nuclear Information System (INIS)

    Cable, T.C.; Jones, S.

    1995-01-01

    REMOTEC has developed a open-quotes radiation resistanceclose quotes control system under a U.S. Department of Energy Small Business Innovative Research (SBIR) contract with assistance from the University of Florida. The SBIR goal was to develop a radiation resistant mobile robot from the ANDROS family of hazardous duty mobile robots that REMOTEC manufactures. See Refs. 1 and 2 for additional SBIR results. The control system, as well as the entire ANDROS robot, was redesigned, where necessary, to withstand radiation doses in excess of 10 6 rad. Those components of the robot that could not be purchased as open-quotes radiation hardenedclose quotes were tested under standard operating conditions for determination of their open-quotes radiation resistance.close quotes The entire ANDROS robot was then assembled with these new components and tested to > 10 6 rad

  6. Accelerator control systems in China

    International Nuclear Information System (INIS)

    Yao Chihyuan

    1992-01-01

    Three accelerator facilities were built in the past few years, the 2.8 GeV electron positron collider BEPC, the heavy ion SSC cyclotron accelerator HIRFL and the 800 MeV synchrotron radiation storage ring HESYRL. Aimed at different research areas, they represent a new generation of accelerator in China. This report describes the design philosophy, the structure, performance as well as future improvements of the control systems of the these facilities. (author)

  7. Learning System Center App Controller

    CERN Document Server

    Naeem, Nasir

    2015-01-01

    This book is intended for IT professionals working with Hyper-V, Azure cloud, VMM, and private cloud technologies who are looking for a quick way to get up and running with System Center 2012 R2 App Controller. To get the most out of this book, you should be familiar with Microsoft Hyper-V technology. Knowledge of Virtual Machine Manager is helpful but not mandatory.

  8. Experimental research control software system

    International Nuclear Information System (INIS)

    Cohn, I A; Kovalenko, A G; Vystavkin, A N

    2014-01-01

    A software system, intended for automation of a small scale research, has been developed. The software allows one to control equipment, acquire and process data by means of simple scripts. The main purpose of that development is to increase experiment automation easiness, thus significantly reducing experimental setup automation efforts. In particular, minimal programming skills are required and supervisors have no reviewing troubles. Interactions between scripts and equipment are managed automatically, thus allowing to run multiple scripts simultaneously. Unlike well-known data acquisition commercial software systems, the control is performed by an imperative scripting language. This approach eases complex control and data acquisition algorithms implementation. A modular interface library performs interaction with external interfaces. While most widely used interfaces are already implemented, a simple framework is developed for fast implementations of new software and hardware interfaces. While the software is in continuous development with new features being implemented, it is already used in our laboratory for automation of a helium-3 cryostat control and data acquisition. The software is open source and distributed under Gnu Public License.

  9. Experimental research control software system

    Science.gov (United States)

    Cohn, I. A.; Kovalenko, A. G.; Vystavkin, A. N.

    2014-05-01

    A software system, intended for automation of a small scale research, has been developed. The software allows one to control equipment, acquire and process data by means of simple scripts. The main purpose of that development is to increase experiment automation easiness, thus significantly reducing experimental setup automation efforts. In particular, minimal programming skills are required and supervisors have no reviewing troubles. Interactions between scripts and equipment are managed automatically, thus allowing to run multiple scripts simultaneously. Unlike well-known data acquisition commercial software systems, the control is performed by an imperative scripting language. This approach eases complex control and data acquisition algorithms implementation. A modular interface library performs interaction with external interfaces. While most widely used interfaces are already implemented, a simple framework is developed for fast implementations of new software and hardware interfaces. While the software is in continuous development with new features being implemented, it is already used in our laboratory for automation of a helium-3 cryostat control and data acquisition. The software is open source and distributed under Gnu Public License.

  10. Semantic Linkage of Control Systems

    Directory of Open Access Journals (Sweden)

    Rolf Andreas Rasenack

    2006-01-01

    Full Text Available Control systems are sets of interconnected hardware and software components which regulate the behaviour of processes. The software of modern control systems rises for some years by requirements regarding the flexibility and functionality. Thus the force of innovation grows on enterprises, since ever newer products in ever shorter time intervals must be made available. Associated hereby is the crucial shortening of the product life cycle, whose effects show up in reduced care of the software and the spares inventory. The aim, the concept presented here and developed in a modeling environment, is proved and ensures a minimum functionality of software components. Replacing software components of a control system verified for functionality by a framework at run-time and if necessary the software conditions will become adapted. Quintessential point of this implementation is the usage of an abstract syntax tree. Within its hierarchical structure meta information is attached to nodes and processed by the framework. With the development of the concept for semantic proving of software components the lifetime of software-based products is increased.

  11. The Fermilab Accelerator control system

    Science.gov (United States)

    Bogert, Dixon

    1986-06-01

    With the advent of the Tevatron, considerable upgrades have been made to the controls of all the Fermilab Accelerators. The current system is based on making as large an amount of data as possible available to many operators or end-users. Specifically there are about 100 000 separate readings, settings, and status and control registers in the various machines, all of which can be accessed by seventeen consoles, some in the Main Control Room and others distributed throughout the complex. A "Host" computer network of approximately eighteen PDP-11/34's, seven PDP-11/44's, and three VAX-11/785's supports a distributed data acquisition system including Lockheed MAC-16's left from the original Main Ring and Booster instrumentation and upwards of 1000 Z80, Z8002, and M68000 microprocessors in dozens of configurations. Interaction of the various parts of the system is via a central data base stored on the disk of one of the VAXes. The primary computer-hardware communication is via CAMAC for the new Tevatron and Antiproton Source; certain subsystems, among them vacuum, refrigeration, and quench protection, reside in the distributed microprocessors and communicate via GAS, an in-house protocol. An important hardware feature is an accurate clock system making a large number of encoded "events" in the accelerator supercycle available for both hardware modules and computers. System software features include the ability to save the current state of the machine or any subsystem and later restore it or compare it with the state at another time, a general logging facility to keep track of specific variables over long periods of time, detection of "exception conditions" and the posting of alarms, and a central filesharing capability in which files on VAX disks are available for access by any of the "Host" processors.

  12. The Fermilab accelerator control system

    International Nuclear Information System (INIS)

    Bogert, D.

    1986-01-01

    With the advent of the Tevatron, considerable upgrades have been made to the controls of all the Fermilab Accelerators. The current system is based on making as large an amount of data as possible available to many operators or end-users. Specifically there are about 100000 separate readings, settings, and status and control registers in the various machines, all of which can be accessed by seventeen consoles, some in the Main Control Room and others distributed throughout the complex. A ''Host'' computer network of approximately eighteen PDP-11/34's, seven PDP-11/44's, and three VAX-11/785's supports a distributed data acquisition system including Lockheed MAC-16's left from the original Main Ring and Booster instrumentation and upwards of 1000 Z80, Z8002, and M68000 microprocessors in dozens of configurations. Interaction of the various parts of the system is via a central data base stored on the disk of one of the VAXes. The primary computer-hardware communication is via CAMAC for the new Tevatron and Antiproton Source; certain subsystems, among them vacuum, refrigeration and quench protection, reside in the distributed microprocessors and communicate via GAS, an in-house protocol. An important hardware feature is an accurate clock system making a large number of encoded ''events'' in the accelerator supercycle available for both hardware modules and computers. System software features include the ability to save the current state of the machine or any subsystem and later restore it or compare it with the state at another time, a general logging facility to keep track of specific variables over long periods of time, detection of 'exception conditions' and the posting of alarms, and a central filesharing capability in which files on VAX disks are available for access by any of the ''Host'' processors. (orig.)

  13. Synchrotron control system of the HIMAC

    International Nuclear Information System (INIS)

    Takada, E.; Sato, K.; Itano, A.

    1994-01-01

    A structural design synopsis and the present status of the HIMAC synchrotron control system are described. The control system comprises of Timing System, (ring magnet) Power-supply Controller, Programmable Logic Controller, Static Var Compensator controller, Monitor Controller, RF control computer, Beam Transport control computer and the synchrotron main computer (denoted as CS, hereafter) that forms a local area cluster with man-machine interfacing computers, and communicates with HIMAC supervisor computer. (author)

  14. HTGR Resilient Control System Strategy

    International Nuclear Information System (INIS)

    Stevens, Lynne M.

    2010-01-01

    A preeminent objective for corporate and government organizations is the protection of major investments, which is attained by achieving state awareness, a comprehensive understanding of security and safety, for critical infrastructures. Given the dependence of critical infrastructure on control systems for automation, the integrity of these systems and their ability to provide owner/operators a high degree of state awareness is essential in attaining a high degree of investment protection and public acceptance. Operators as well as government are therefore burdened to ensure they have a timely understanding of the status of their plant or all plants, respectively, to ensure efficient operations and investment and public protection. 'This characterization is a significant objective that must consider many aspects of instrumentation, control, and intelligent systems in order to achieve the required result. These aspects include sensory, communication, analysis, decision, and human system interfaces necessary to achieve fusion of data and presentation of results that will provide an understanding of what issues are important and why.

  15. HTGR Resilient Control System Strategy

    Energy Technology Data Exchange (ETDEWEB)

    Lynne M. Stevens

    2010-09-01

    A preeminent objective for corporate and government organizations is the protection of major investments, which is attained by achieving state awareness, a comprehensive understanding of security and safety, for critical infrastructures. Given the dependence of critical infrastructure on control systems for automation, the integrity of these systems and their ability to provide owner/operators a high degree of state awareness is essential in attaining a high degree of investment protection and public acceptance. Operators as well as government are therefore burdened to ensure they have a timely understanding of the status of their plant or all plants, respectively, to ensure efficient operations and investment and public protection. “This characterization is a significant objective that must consider many aspects of instrumentation, control, and intelligent systems in order to achieve the required result. These aspects include sensory, communication, analysis, decision, and human system interfaces necessary to achieve fusion of data and presentation of results that will provide an understanding of what issues are important and why.

  16. Intelligent control-III: fuzzy control system

    International Nuclear Information System (INIS)

    Nagrial, M.H.

    2004-01-01

    During the last decade or so, fuzzy logic control (FLC) has emerged as one of the most active and fruitful areas of research and development. The applications include industrial process control to medical diagnostic and financial markets. Many consumer products using this technology are available in the market place. FLC is best suited to complex ill-defined processes that can be controlled by a skilled human operator without much knowledge of their underlying dynamics. This lecture will cover the basic architecture and the design methodology of fuzzy logic controllers. FLC will be strongly based on the concepts of fuzzy set theory, introduced in first lecture. Some practical applications will also be discussed and presented. (author)

  17. Integration of Fire Control, Flight Control and Propulsion Control Systems.

    Science.gov (United States)

    1983-08-01

    pourront etre enploy6s. Avant l’attaque, des profils de vole contr~lant I’Anergie seront 6tablis pour augmenter au maximum l’dnergie disponible do...VERIIATION PROCEDURES NTRTO PERFORM CONTROL SYSTEM REPEAT TESTS WITH ACTUAL ENGIRE ITEATO INTEGRATION TO TIENMO. RUUINED TE VALIDATE TESTING TESI ...fonrtionnement est disponible . Teat-dea rodur d’nrf /sortie .an. scs i lquiesent posslde ce* deux dispositife, on test des rodeurs et sx~fiutA *Sur une vote do

  18. Switching Systems: Controllability and Control Design

    Science.gov (United States)

    2009-04-25

    both continuous and discrete dynamics, are abundant in essentially all areas of engineering and scientific endeavor. Hybrid systems can switch between...TERMS EOARD, Navigation, Comunications & Guidance, Complex Systems 16. SECURITY CLASSIFICATION OF: 19a. NAME OF RESPONSIBLE PERSON JAMES LAWTON Ph

  19. Instrumentation, Control, and Intelligent Systems

    Energy Technology Data Exchange (ETDEWEB)

    2005-09-01

    Abundant and affordable energy is required for U.S. economic stability and national security. Advanced nuclear power plants offer the best near-term potential to generate abundant, affordable, and sustainable electricity and hydrogen without appreciable generation of greenhouse gases. To that end, Idaho National Laboratory (INL) has been charged with leading the revitalization of nuclear power in the U.S. The INL vision is to become the preeminent nuclear energy laboratory with synergistic, world-class, multi-program capabilities and partnerships by 2015. The vision focuses on four essential destinations: (1) Be the preeminent internationally-recognized nuclear energy research, development, and demonstration laboratory; (2) Be a major center for national security technology development and demonstration; (3) Be a multi-program national laboratory with world-class capabilities; (4) Foster academic, industry, government, and international collaborations to produce the needed investment, programs, and expertise. Crucial to that effort is the inclusion of research in advanced instrumentation, control, and intelligent systems (ICIS) for use in current and advanced power and energy security systems to enable increased performance, reliability, security, and safety. For nuclear energy plants, ICIS will extend the lifetime of power plant systems, increase performance and power output, and ensure reliable operation within the system's safety margin; for national security applications, ICIS will enable increased protection of our nation's critical infrastructure. In general, ICIS will cost-effectively increase performance for all energy security systems.

  20. Instrumentation, Control, and Intelligent Systems

    International Nuclear Information System (INIS)

    Not Available

    2005-01-01

    Abundant and affordable energy is required for U.S. economic stability and national security. Advanced nuclear power plants offer the best near-term potential to generate abundant, affordable, and sustainable electricity and hydrogen without appreciable generation of greenhouse gases. To that end, Idaho National Laboratory (INL) has been charged with leading the revitalization of nuclear power in the U.S. The INL vision is to become the preeminent nuclear energy laboratory with synergistic, world-class, multi-program capabilities and partnerships by 2015. The vision focuses on four essential destinations: (1) Be the preeminent internationally-recognized nuclear energy research, development, and demonstration laboratory; (2) Be a major center for national security technology development and demonstration; (3) Be a multi-program national laboratory with world-class capabilities; (4) Foster academic, industry, government, and international collaborations to produce the needed investment, programs, and expertise. Crucial to that effort is the inclusion of research in advanced instrumentation, control, and intelligent systems (ICIS) for use in current and advanced power and energy security systems to enable increased performance, reliability, security, and safety. For nuclear energy plants, ICIS will extend the lifetime of power plant systems, increase performance and power output, and ensure reliable operation within the system's safety margin; for national security applications, ICIS will enable increased protection of our nation's critical infrastructure. In general, ICIS will cost-effectively increase performance for all energy security systems

  1. About development of automation control systems

    Science.gov (United States)

    Myshlyaev, L. P.; Wenger, K. G.; Ivushkin, K. A.; Makarov, V. N.

    2018-05-01

    The shortcomings of approaches to the development of modern control automation systems and ways of their improvement are given: the correct formation of objects for study and optimization; a joint synthesis of control objects and control systems, an increase in the structural diversity of the elements of control systems. Diagrams of control systems with purposefully variable structure of their elements are presented. Structures of control algorithms for an object with a purposefully variable structure are given.

  2. On the equivalence of chaos control systems

    International Nuclear Information System (INIS)

    Wang Xiaofan

    2003-01-01

    For a given chaotic system, different control systems can be constructed depending on which parameter is tuned or where the external input is added. We prove that two different feedback control systems are qualitatively equivalent if they are feedback linearizable

  3. Study on Design of Control Module and Fuzzy Control System

    International Nuclear Information System (INIS)

    Lee, Chang Kyu; Sohn, Chang Ho; Kim, Jung Seon; Kim, Min Kyu

    2005-01-01

    Performance of control unit is improved by introduction of fuzzy control theory and compensation for input of control unit as FLC(Fuzzy Logic Controller). Here, FLC drives thermal control system by linguistic rule-base. Hence, In case of using compensative PID control unit, it doesn't need to revise or compensate for PID control unit. Consequently, this study shows proof that control system which implements H/W module and then uses fuzzy algorism in this system is stable and has reliable performance

  4. Almaraz ovation control system security

    Energy Technology Data Exchange (ETDEWEB)

    Madronal Rodriguez, E.; Anderson, E.; Jimenez Diaz, J.; Carrasco Mateos, J. A.

    2013-07-01

    Improving the security of a plant's Distributed Control System (DCS) is an important consideration for plant safety and profitability, as well as the necessity to comply with the regulation. The U.S. Nuclear Regulatory Commission has produced Regulatory Guide (RG) 5.71, and the Nuclear Energy Institute (NEI) has produced NEI 08-09 to assist plants in meeting 10 CFR 73.54, Protection of digital computer and communication systems and networks. These requirements, which address the establishment, implementation and maintenance of a cyber security program, present challenges to ensure that safety, security and emergency preparedness functions of nuclear facilities are not negatively impacted by the vulnerability scanning and testing process.

  5. Almaraz ovation control system security

    International Nuclear Information System (INIS)

    Madronal Rodriguez, E.; Anderson, E.; Jimenez Diaz, J.; Carrasco Mateos, J. A.

    2013-01-01

    Improving the security of a plant's Distributed Control System (DCS) is an important consideration for plant safety and profitability, as well as the necessity to comply with the regulation. The U.S. Nuclear Regulatory Commission has produced Regulatory Guide (RG) 5.71, and the Nuclear Energy Institute (NEI) has produced NEI 08-09 to assist plants in meeting 10 CFR 73.54, Protection of digital computer and communication systems and networks. These requirements, which address the establishment, implementation and maintenance of a cyber security program, present challenges to ensure that safety, security and emergency preparedness functions of nuclear facilities are not negatively impacted by the vulnerability scanning and testing process.

  6. Advances and applications in nonlinear control systems

    CERN Document Server

    Volos, Christos

    2016-01-01

    The book reports on the latest advances and applications of nonlinear control systems. It consists of 30 contributed chapters by subject experts who are specialized in the various topics addressed in this book. The special chapters have been brought out in the broad areas of nonlinear control systems such as robotics, nonlinear circuits, power systems, memristors, underwater vehicles, chemical processes, observer design, output regulation, backstepping control, sliding mode control, time-delayed control, variables structure control, robust adaptive control, fuzzy logic control, chaos, hyperchaos, jerk systems, hyperjerk systems, chaos control, chaos synchronization, etc. Special importance was given to chapters offering practical solutions, modeling and novel control methods for the recent research problems in nonlinear control systems. This book will serve as a reference book for graduate students and researchers with a basic knowledge of electrical and control systems engineering. The resulting design proce...

  7. Development of controlled drilling system

    International Nuclear Information System (INIS)

    Kiho, Kenzo; Miyakawa, Kimio; Suzuki, Koichi; Sunaga, Takayuki

    2008-01-01

    In Japan, the soft sedimentary rock of the Neogene tertiary is being focused as a host rock for the High Level Radioactive Waste (HLW) disposal. Especially, the soft sedimentary rock at the offshore, region is thought to be one of the best candidates, since there is no driving force of the underground water. The measurement and logging in the bore hole in order to check the hydro-geological and geomechanical conditions of the host rock is a very important way to examine the potentially of the disposal candidates. The CRIEPI (Central Research Institute of Electric Power Industry) has been conducting the project about the controlled drilling technology and the measurement and logging technologies in its borehole. In 2000, as the beginning year of the project, we made the conceptual design of the drilling and measuring systems, and made key tools concerning each technology on an experimental basis. We have been developing sub tools constructing drilling and measuring systems since 2000, and applying these systems to the Horonobe site recent 5 years. We will briefly report the outline of the system and the results of drilling and measurement that were carried out at the Horonobe site. (author)

  8. Autonomous intelligent cruise control system

    Science.gov (United States)

    Baret, Marc; Bomer, Thierry T.; Calesse, C.; Dudych, L.; L'Hoist, P.

    1995-01-01

    Autonomous intelligent cruise control (AICC) systems are not only controlling vehicles' speed but acting on the throttle and eventually on the brakes they could automatically maintain the relative speed and distance between two vehicles in the same lane. And more than just for comfort it appears that these new systems should improve the safety on highways. By applying a technique issued from the space research carried out by MATRA, a sensor based on a charge coupled device (CCD) was designed to acquire the reflected light on standard-mounted car reflectors of pulsed laser diodes emission. The CCD is working in a unique mode called flash during transfer (FDT) which allows identification of target patterns in severe optical environments. It provides high accuracy for distance and angular position of targets. The absence of moving mechanical parts ensures high reliability for this sensor. The large field of view and the high measurement rate give a global situation assessment and a short reaction time. Then, tracking and filtering algorithms have been developed in order to select the target, on which the equipped vehicle determines its safety distance and speed, taking into account its maneuvering and the behaviors of other vehicles.

  9. Control System for Prosthetic Devices

    Science.gov (United States)

    Bozeman, Richard J. (Inventor)

    1996-01-01

    A control system and method for prosthetic devices is provided. The control system comprises a transducer for receiving movement from a body part for generating a sensing signal associated with that of movement. The sensing signal is processed by a linearizer for linearizing the sensing signal to be a linear function of the magnitude of the distance moved by the body part. The linearized sensing signal is normalized to be a function of the entire range of body part movement from the no-shrug position of the moveable body part through the full-shrg position of the moveable body part. The normalized signal is divided into a plurality of discrete command signals. The discrete command signals are used by typical converter devices which are in operational association with the prosthetic device. The converter device uses the discrete command signals for driving the moveable portions of the prosthetic device and its sub-prosthesis. The method for controlling a prosthetic device associated with the present invention comprises the steps of receiving the movement from the body part, generating a sensing signal in association with the movement of the body part, linearizing the sensing signal to be a linear function of the magnitude of the distance moved by the body part, normalizing the linear signal to be a function of the entire range of the body part movement, dividing the normalized signal into a plurality of discrete command signals, and implementing the plurality of discrete command signals for driving the respective moveable prosthesis device and its sub-prosthesis.

  10. Automatic control system at the ''Loviisa'' NPP

    International Nuclear Information System (INIS)

    Kukhtevich, I.V.; Mal'tsev, B.K.; Sergievskaya, E.N.

    1980-01-01

    Automatic control system of the Loviisa-1 NPP (Finland) is described. According to operation conditions of Finland power system the Loviisa-1 NPP must operate in the mode of week and day control of loading schedule and participate in current control of power system frequency and capacity. With provision for these requirements NPP is equipped with the all-regime system for automatic control functioning during reactor start-up, shut-down, in normal and transient regimes and in emergency situations. The automatic control system includes: a data subsystem, an automatic control subsystem, a discrete control subsystem including remote, a subsystem for reactor control and protection and overall station system of protections: control and dosimetry inside the reactor. Structures of a data-computer complex, discrete control subsystems, reactor control and protection systems, neutron flux control system, inside-reactor control system, station protection system and system for control of fuel element tightness are presented in short. Two-year experience of the NPP operation confirmed advisability of the chosen volume of automatization. The Loviisa-1 NPP operates successfully in the mode of the week and day control of supervisor schedule and current control of frequency (short-term control)

  11. Central control system for the EAST tokamak

    International Nuclear Information System (INIS)

    Sun Xiaoyang; Ji Zhenshan; Wu Yicun; Luo Jiarong

    2008-01-01

    The architecture, the main function and the design scheme of the central control system and the collaboration system of EAST tokamak are described. The main functions of the central control system are to supply a union control interface for all the control, diagnoses, and data acquisition (DAQ) subsystem and it is also designed to synchronize all those subsystem. (authors)

  12. Model predictive control for a thermostatic controlled system

    DEFF Research Database (Denmark)

    Shafiei, Seyed Ehsan; Rasmussen, Henrik; Stoustrup, Jakob

    2013-01-01

    This paper proposes a model predictive control scheme to provide temperature set-points to thermostatic controlled cooling units in refrigeration systems. The control problem is formulated as a convex programming problem to minimize the overall operating cost of the system. The foodstuff temperat......This paper proposes a model predictive control scheme to provide temperature set-points to thermostatic controlled cooling units in refrigeration systems. The control problem is formulated as a convex programming problem to minimize the overall operating cost of the system. The foodstuff...

  13. Fuel fabrication instrumentation and control system overview

    International Nuclear Information System (INIS)

    Bennett, D.W.; Fritz, R.L.

    1980-10-01

    A process instrumentation and control system is being developed for automated fabrication of breeder reactor fuel at the Hanford Engineering Development Laboratory (HEDL) in Richland, Washington. The basic elements of the control system are a centralized computer system linked to distributed local computers, which direct individual process applications. The control philosophy developed for the equipment automation program stresses system flexibility and inherent levels of redundant control capabilities. Four different control points have been developed for each unit process operation

  14. Supervisory Control and Diagnostics System Distributed Operating System

    International Nuclear Information System (INIS)

    McGoldrick, P.R.

    1979-01-01

    This paper contains a description of the Supervisory Control and Diagnostics System (SCDS) Distributed Operating System. The SCDS consists of nine 32-bit minicomputers with shared memory. The system's main purpose is to control a large Mirror Fusion Test Facility

  15. Distributed control system for the FMIT

    International Nuclear Information System (INIS)

    Johnson, J.A.; Machen, D.R.; Suyama, R.M.

    1979-01-01

    The control system for the Fusion Materials Irradiation Test (FMIT) Facility will provide the primary data acquisition, control, and interface components that integrate all of the individual FMIT systems into a functional facility. The control system consists of a distributed computer network, control consoles and instrumentation subsystems. The FMIT Facility will be started, operated and secured from a Central Control Room. All FMIT systems and experimental functions will be monitored from the Central Control Room. The data acquisition and control signals will be handled by a data communications network, which connects dual computers in the Central Control Room to the microcomputers in CAMAC crates near the various subsystems of the facility

  16. Upgrading the Fermilab Linac local control system

    International Nuclear Information System (INIS)

    McCrory, E.S.; Goodwin, R.W.; Shea, M.F.

    1991-02-01

    A new control system for the Fermilab Linac is being designed, built and implemented. First, the nine-year-old linac control system is being replaced. Second, a control system for the new 805 MHz part of the linac is being built. The two systems are essentially identical, so that when the installations are complete, we will still have a single Linac Control System. 8 refs., 5 figs

  17. Globalization and localization of Management Control Systems

    DEFF Research Database (Denmark)

    Toldbod, Thomas; Israelsen, Poul

    2014-01-01

    Through an empirical case study this article examines the operation of multiple management control systems as a package in a Danish manufacturing company. The analysis focuses on four different management control systems; cybernetic controls, planning controls, reward controls, and administrative...... have more particular characteristics. Specifically, this study finds that cybernetic controls and administrative controls are designed as global management control systems. Planning controls are glocal systems and reward & compensation controls assume local characteristics. The finding leads...... controls, through the theoretical lens of globalization, localization, and glocalization. The analysis documents that these different management control systems are affected differently by the processes of globalization and localization, whereby some are universal throughout the organization and others...

  18. Control system security in nuclear power plant

    International Nuclear Information System (INIS)

    Li Jianghai; Huang Xiaojin

    2012-01-01

    The digitalization and networking of control systems in nuclear power plants has brought significant improvements in system control, operation and maintenance. However, the highly digitalized control system also introduces additional security vulnerabilities. Moreover, the replacement of conventional proprietary systems with common protocols, software and devices makes these vulnerabilities easy to be exploited. Through the interaction between control systems and the physical world, security issues in control systems impose high risks on health, safety and environment. These security issues may even cause damages of critical infrastructures and threaten national security. The importance of control system security by reviewing several control system security incidents that happened in nuclear power plants was showed in recent years. Several key difficulties in addressing these security issues were described. Finally, existing researches on control system security and propose several promising research directions were reviewed. (authors)

  19. RF control system of the HIMAC synchrotron

    International Nuclear Information System (INIS)

    Kanazawa, M.; Sato, K.; Itano, A.

    1992-01-01

    An RF control system of the HIMAC synchrotron has been constructed. In this control system we have adopted a digital feed back system with a digital synthesizer (DS). Combining a high power system, performance of the control system have been tested in a factory (Toshiba) with a simulator circuit of the synchrotron oscillation. Following this test, We had beam acceleration test with this control system at TARN-II in INS (Institute for Nuclear Study, University of Tokyo). This paper describes the RF control system and its tested results. (author)

  20. Automatic oscillator frequency control system

    Science.gov (United States)

    Smith, S. F. (Inventor)

    1985-01-01

    A frequency control system makes an initial correction of the frequency of its own timing circuit after comparison against a frequency of known accuracy and then sequentially checks and corrects the frequencies of several voltage controlled local oscillator circuits. The timing circuit initiates the machine cycles of a central processing unit which applies a frequency index to an input register in a modulo-sum frequency divider stage and enables a multiplexer to clock an accumulator register in the divider stage with a cyclical signal derived from the oscillator circuit being checked. Upon expiration of the interval, the processing unit compares the remainder held as the contents of the accumulator against a stored zero error constant and applies an appropriate correction word to a correction stage to shift the frequency of the oscillator being checked. A signal from the accumulator register may be used to drive a phase plane ROM and, with periodic shifts in the applied frequency index, to provide frequency shift keying of the resultant output signal. Interposition of a phase adder between the accumulator register and phase plane ROM permits phase shift keying of the output signal by periodic variation in the value of a phase index applied to one input of the phase adder.