Search results for "Automation"
showing 10 items of 1181 documents
Impulse-based hybrid motion control
2017
The impulse-based discrete feedback control has been proposed in previous work for the second-order motion systems with damping uncertainties. The sate-dependent discrete impulse action takes place at zero crossing of one of both states, either relative position or velocity. In this paper, the proposed control method is extended to a general hybrid motion control form. We are using the paradigm of hybrid system modeling while explicitly specifying the state trajectories each time the continuous system state hits the guards that triggers impulsive control actions. The conditions for a stable convergence to zero equilibrium are derived in relation to the control parameters, while requiring on…
Full- and Reduced-order Model of Hydraulic Cylinder for Motion Control
2017
This paper describes the full- and reduced-order models of an actuated hydraulic cylinder suitable for system dynamics analysis and motion control design. The full-order model incorporates the valve spool dynamics with combined dead-zone and saturation nonlinearities - inherent for the orifice flow. It includes the continuity equations of hydraulic circuits coupled with the dynamics of mechanical part of cylinder drive. The resulted model is the fifth-order and nonlinear in states. The reduced model neglects the fast valve spool dynamics, simplifies both the orifice and continuity equations through an aggregation, and considers the cylinder rod velocity as output of interest. The reduced mo…
Modeling and field-experiments identification of vertical dynamics of vehicle with active anti-roll bar
2020
This paper deals with modeling and identification of vertical dynamics of the ground vehicle equipped with two active anti-roll torsion bars. A series of field tests of a full-scale drive have been performed, from which multiple displacement and acceleration data of the unsprung and sprung masses have been collected for each vehicle corner. The standard full vertical vehicle model is extended by the developed model of an active anti-roll torsion bar and valve-controlled semi-active shock absorbing damper. Along with the three-dimensional damping map, the nonlinear progressive stiffness of the elastomer-based decoupling unit are identified from the available data. The multi-channel and multi…
Use of Prandtl-Ishlinskii hysteresis operators for Coulomb friction modeling with presliding
2017
Prandtl-Ishlinskii stop-type hysteresis operators allow for modeling elasto-plasticity in the relative stress-strain coordinates including the saturation level of the residual constant-tension flow. This lies in direct equivalence to the force-displacement characteristics of nonlinear Coulomb friction, whose constant average value at unidirectional motion depends on the motion sign only, after the transient presliding phase at each motion reversal. In this work, we analyze and demonstrate the use of Prandtl-Ishlinskii operators for modeling the Coulomb friction with presliding phase. No viscous i.e. velocity-dependent component is considered at this stage, and the constant damping rate of t…
An estimator algorithm for the rotation time of magnetization vector in nuclear magnetic resonance for imaging (NMRI)
2018
The purpose of this paper is to propose a useful method to investigate the rotation time of the magnetization vector in the nuclear magnetic resonance for imaging (NMRI) system. The ninety degrees rotation of the magnetization vector is the first step in order to establish the free induction decay that radiates electromagnetic energy inside the NMRI chamber. The estimator involved in this research is called Luenberger's observer which is a state estimator of a dynamical system. The Bloch's equation is a dynamical system characterized by a radio frequency (RF) impulse located inside the dynamic matrix, which means the system is not linear. The observer algorithm involved in this paper estim…
Robust optimal control of two-level quantum systems
2017
We investigate the time and the energy minimum optimal solutions for the robust control of two-level quantum systems against offset or control field uncertainties. Using the Pontryagin Maximum Principle, we derive the global optimal pulses for the first robustness orders. We show that the dimension of the control landscape is lower or equal to 2N for a field robust to the N th order, which leads to an estimate of its complexity.
Pressure-flow dynamics with semi-stable limit cycles in hydraulic cylinder circuits
2021
In hydraulic circuits of the standard fluid-power actuators and mechanisms, like the linear-stroke cylinders, some hydrodynamic effects are often neglected. It happens mainly due to their complexity and secondariness in comparison with the principal transient and steady-state behavior of the hydromechanical process variables, such as the differential pressure and relative displacement and its rate, in other words the piston stroke and velocity. However, a constrained motion of the cylinder piston can give rise to the back coupled excitation of the pressure-flow dynamics, especially upon mechanical impact at the cylinder limits. Following to that, semi-stable limit cycles can arise while the…
The UWB-OFDM Channel Analysis in Frequency
2009
In this paper, the ultra-wideband channel with orthogonal frequency division multiplexing (UWB-OFDM) is analyzed in the frequency domain. For UWB-OFDM channels with log-normal fading in the time domain, we show that the amplitude of each subcarrier can be approximated by a Nakagami-m random variable, where the fading parameter, the mean power and the correlation coefficient are expressed in terms of the following parameters: time arrival of the clusters, inter-arrival time of rays inside clusters, and power decay constants of rays and clusters.
ALEPH: a Detector for Electron-Positron Annihilations at LEP
1990
Process-centred Software Engineering Environments (PSEE) are the most recent generation of environments supporting software development activities. Most of PSEE are based on mechanisms promoting enforcement and automation of process activities. In this kind of mechanisms the process models are prescribed in a detailed and complete way. But the experience shows that supporting processes is more concerned with the flexibility of guidance offered during the process performance than with enforcement of a collection of predefined process models. In this paper, we present a solution to support strategic processes in a PSEE by providing a flexible guidance during process enactment.
On reference star recognition and identification
2014
The paper deals with a research in the area of automation of positional star observations. In order to fully employ recent progress in imaging technologies, star image recognition and reference star identification process should gain comparable level of automation. A software package for this purpose has been developed in the Institute of Geodesy of the University of Latvia. It is capable of near-real-time image processing, star identification and astrometric position determination.