Learning Feedforward Control for Industrial Manipulators

Purpose This preliminary study examined whether speech profiles exist for adults with hereditary ataxia based on 2 competing frameworks: a pattern of instability/inflexibility or a pattern of differential subsystem involvement. Method Four dysarthria experts rated the speech samples of 8 adults with dysarthria from hereditary ataxia using visual analog scales and presence/severity rating scales of speech characteristics. Speaking tasks included diadochokinetics, sustained phonation, and a monologue. Results Speech profiles aligned with the instability/inflexibility framework, with the pattern of instability being the most common. Speech profiles did not emerge for the majority of speakers using the differential subsystem framework. Conclusions The findings extend previous research on pure ataxic dysarthria and suggest a possible framework for understanding the speech heterogeneity associated with the ataxias. The predominance of the instability profile is consistent with the notion of impaired feedforward control in speakers with cerebellar disruption.

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Use of vent stack temperature as a feedforward variable for dissolver total titratable alkali (TTA) control

TAPPI Journal ◽

10.32964/tj17.05.261 ◽

2018 ◽

Vol 17 (05) ◽

pp. 261-269

Author(s):

Wei Ren ◽

Brennan Dubord ◽

Jason Johnson ◽

Bruce Allison

Keyword(s):

Feedback Control ◽

Current Practice ◽

Feedforward Control ◽

Control Variable ◽

Indirect Measurement ◽

Tight Control ◽

Transfer Lines ◽

Green Liquor ◽

Process Dynamics ◽

Downstream Processes

Tight control of raw green liquor total titratable alkali (TTA) may be considered an important first step towards improving the overall economic performance of the causticizing process. Dissolving tank control is made difficult by the fact that the unknown smelt flow is highly variable and subject to runoff. High TTA variability negatively impacts operational costs through increased scaling in the dissolver and transfer lines, increased deadload in the liquor cycle, under- and over-liming, increased energy consumption, and increased maintenance. Current practice is to use feedback control to regulate the TTA to a target value through manipulation of weak wash flow while simultaneously keeping dissolver density within acceptable limits. Unfortunately, the amount of variability reduction that can be achieved by feedback control alone is fundamentally limited by the process dynamics. One way to improve upon the situation would be to measure the smelt flow and use it as a feedforward control variable. Direct measurement of smelt flow is not yet possible. The use of an indirect measurement, the dissolver vent stack temperature, is investigated in this paper as a surrogate feedforward variable for dissolving tank TTA control. Mill trials indicate that significant variability reduction in the raw green liquor TTA is possible and that the control improvements carry through to the downstream processes.

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Adaptive Feedforward Control of an Industrial H-Drive Positioning with Permanent Magnet Linear Motors

International Review on Modelling and Simulations (IREMOS) ◽

10.15866/iremos.v8i4.6549 ◽

2015 ◽

Vol 8 (4) ◽

pp. 399

Author(s):

Marko T. Huikuri ◽

J. W. Jansen ◽

E. A. Lomonova ◽

Juha J. Pyrhönen

Keyword(s):

Permanent Magnet ◽

Feedforward Control ◽

Linear Motors ◽

Adaptive Feedforward

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An Optically Driven Learning Control for Industrial Manipulators

10.23919/acc.1988.4789791 ◽

1988 ◽

Cited By ~ 2

Author(s):

R. Shoureshi ◽

P. Brown ◽

R. Evans ◽

W. Stevenson

Keyword(s):

Learning Control ◽

Industrial Manipulators

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Control of coagulation process by dual wavelength article analyzer

Water Science & Technology ◽

10.2166/wst.1997.0104 ◽

1997 ◽

Vol 36 (4) ◽

pp. 135-142 ◽

Cited By ~ 2

Author(s):

Norihito Tambo ◽

Yoshihiko Matsui ◽

Ken-ichi Kurotani ◽

Masakazu Kubota ◽

Hirohide Akiyama ◽

...

Keyword(s):

Water Quality ◽

Control System ◽

Predictive Control ◽

Control Method ◽

Feedforward Control ◽

Raw Water ◽

Floc Size ◽

Coagulation Process ◽

Series Of Experiments ◽

Size Data

A coagulation process for water purification plants mainly uses feedforward control based on raw water quality and empirical data and requires operator's help. We developed a new floc sensor for measuring floc size in a flush mixer to be used for floc control. A control system using model predictive control was developed on the floc size data. A series of experiments was performed to confirm controllability of settled water quality by controlling flush mixer floc size. An automatic control with feedback from the coagulation process was evaluated as practical and reliable. Finally this new control method was applied for actual plant and evaluated as practical.

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Feasibility Study of the Novel Nitrification Control System with Feedback and Auto Calibration Feedforward Control

Proceedings of the Water Environment Federation ◽

10.2175/193864715819558244 ◽

2015 ◽

Vol 2015 (2) ◽

pp. 1-5

Author(s):

Ichiro Yamanoi ◽

Yoshinori Nishida ◽

Nobuyuki Nakamura ◽

Takeshi Takemoto ◽

Kenji Toyooka ◽

...

Keyword(s):

Control System ◽

Feasibility Study ◽

Feedforward Control ◽

The Novel

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Optimized feedforward control of propofol for induction of hypnosis in general anesthesia

Biomedical Signal Processing and Control ◽

10.1016/j.bspc.2021.102476 ◽

2021 ◽

Vol 66 ◽

pp. 102476

Author(s):

Michele Schiavo ◽

Luca Consolini ◽

Mattia Laurini ◽

Nicola Latronico ◽

Massimiliano Paltenghi ◽

...

Keyword(s):

General Anesthesia ◽

Feedforward Control

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Evaluation of Process Control Schemes for Sour Water Strippers in Petroleum Refining

Processes ◽

10.3390/pr9020363 ◽

2021 ◽

Vol 9 (2) ◽

pp. 363

Author(s):

Chii-Dong Ho ◽

Yih-Hang Chen ◽

Chao-Min Chang ◽

Hsuan Chang

Keyword(s):

Feedback Control ◽

Prediction Models ◽

Feedforward Control ◽

Absolute Error ◽

Dynamic Responses ◽

Control Schemes ◽

Online Measurements ◽

Measurement Delay ◽

Water Feed ◽

Sour Water

For the sour water strippers in petroleum refinery plants, three prediction models were developed first, including the estimators of sour water feed concentrations using convenient online measurements, the minimum reboiler duty and the corresponding internal temperature at a specific location (Tstage,29). Feedforward control schemes were developed based on these prediction models. Four categories of control schemes, including feedforward, feedback, feedback with external reset, and feedforward-feedback, were proposed and evaluated by the rigorous dynamic simulation model of the sour water stripper for their dynamic responses to the sour water feed stream disturbances. The comparison of control performance, in terms of the settling time, integrated absolute error (IAE) of the NH3 concentration of the stripped sour water and IAE of the specific reboiler duty, reveals that FFT (feedforward control of Tstage,29) and FBA-DT3 (feedback control with 3 min concentration measurement delay) are the best control schemes. The second-best control scheme is FBAT (cascade feedback control of concentration with temperature).

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