Search results for "Control Engineering"

Stratified Autocalibration of Cameras with Euclidean Image Plane

2020

International audience; This paper tackles the problem of stratified autocalibration of a moving camera with Euclidean image plane (i.e. zero skew and unit aspect ratio) and constant intrinsic parameters. We show that with these assumptions, in addition to the polynomial derived from the so-called modulus constraint, each image pair provides a new quartic polynomial in the unknown plane at infinity. For three or more images, the plane at infinity estimation is stated as a constrained polynomial optimization problem that can efficiently be solved using Lasserre's hierarchy of semidefinite relaxations. The calibration parameters and thus a metric reconstruction are subsequently obtained by so…

The Influence of the feedback control of the hexapod platform of the SAAM dynamic driving simulator on neuromuscular dynamics of the drivers

2012

Multi sensorial cues (visual, auditory, haptic, inertial, vestibular, neuromuscular) [Ang2] play important roles to represent a proper sensation (objectively) and so a perception (subjectively as cognition) in driving simulators. Driving simulator aims at giving the sensation of driving as in a real case. For a similar situation, the driver has to react in the same way as in reality in terms of ‘self motion’. To enable this behavior, the driving simulator must enhance the virtual immersion of the subject in the driving situation. The subject has to perceive the motion of his own body in the virtual scene of the virtual car as he will have in a real car. For that reason, restituting the iner…

Design of a cascade observer for a model of bacterial batch culture with nutrient recycling

2010

aeres : C-COM; International audience

A multi-agent based cooperative control model applied to the management of vehicles-trains

2017

The use of individual vehicles is becoming more and more important in inner cities, leading to many side problems such as traffic jam, air pollution and accidents. Intelligent vehicles have been studied so as to overcome these problems. Some solutions provided by these works are already available to the general public market such as city safety systems, lane assists,... Many research works are focusing on finding suitable and acceptable solutions to these problems and dealing with traffic jam management. The proposal can tackle the traffic jam problem whether on system level or on individual vehicle providing better control and perception systems aimed at reducing time response and/or at in…

Computer Simulation for the Study of CNC Feed Drives Dynamic Behavior and Accuracy

2007

In the application of CNC feed drives it is desirable to predict the servo performance. By using computer simulation techniques it is possible to construct an accurate model of the servo drive. This simulation procedure makes it possible to anticipate machine design problems and correct them. This paper deals with a model of a feed drive, which consists of a motion control system driven by a DC motor. Both position and velocity feedback loops are present in the structure of the system. By means of MATLAB & Simulink software, simulation diagrams were built in order to test the behaviour of the system. Experimental data are also presented in order to confirm the accuracy of the theoretical mo…

Position Control of a Mobile Robot through PID Controller

2019

Abstract In this paper, the implementation and tuning steps of the PID controllers were proposed for the position control of a mobile robot with differential steering. The purpose of this robot was the participation in a European amateur robotics contest, the mobile robot being developed in the Engineering Faculty of Sibiu, Department of Industrial Machines and Equipment. After a brief introduction of the mobile entertainment robot, followed by description of the robot’s different components and traction principles, several principles of tuning the PID controller for the mobile robot are presented. The paper ends with some general conclusions based upon the results obtained from studying th…

DYNAMIC MODELING TOOLS FOR SOLAR POWERED DESALINATION PROCESSES DURING TRANSIENT OPERATIONS

2007

IMPROVING CNC MACHINE TOOLS ACCURACY USING MODELING AND COMPUTER SIMULATION TECHNIQUES

2007

Abstract The position was one of the first parameters that required the introduction of automatic control process. One of the most representative applications is represented by the feed drives of the computer numerically controlled (CNC) machine tools. Today, it is possible to use computer simulation techniques in analysing and synthesising position control systems. Thus, the behaviour of the CNC machine tools feed drives can be treated much more realistically. It is the purpose of this paper to show how simulation can be used to accurately represent, predict and improve the performance of a CNC machine tool feed servo drives.

Motion-control techniques of today and tomorrow: a review and discussion of the challenges of controlled motion

2020

Motion-control technologies are at the core of multiple mechatronic products and applications. Wherever actuated motion takes place in machines and components, either position or force setting (or trajectory tracking), or even a combination of both, are demanded from the control system. In high-performance mechatronic systems, including micro- and/or nanoscale motion (such as data-storage devices, machine tools, manufacturing tools for electronics components, and industrial robots), the required specifications in motion performance, such as response/settling time and trajectory/settling accuracy, should be sufficiently achieved [1].

LPV model identification for gain scheduling control: An application to rotating stall and surge control problem

2006

Abstract We approach the problem of identifying a nonlinear plant by parameterizing its dynamics as a linear parameter varying (LPV) model. The system under consideration is the Moore–Greitzer model which captures surge and stall phenomena in compressors. The control task is formulated as a problem of output regulation at various set points (stable and unstable) of the system under inputs and states constraints. We assume that inputs, outputs and scheduling parameters are measurable. It is worth pointing out that the adopted technique allows for identification of an LPV model's coefficients without the requirements of slow variations amongst set points. An example of combined identification…