Experimental investigation on data and control planes of the OMEGA test bed

2004 ◽  
Author(s):  
S.M. Rossi ◽  
P. de Paula ◽  
M.L. Rocha ◽  
M.R.X. Barros ◽  
A.C. Sachs ◽  
...  
Keyword(s):  
Experimental Investigation ◽  
Test Bed ◽  
And Control

scholarly journals Scalable co-optimization of morphology and control in embodied machines

2018 ◽  
Vol 15 (143) ◽  
pp. 20170937 ◽  
Author(s):  
Nick Cheney ◽  
Josh Bongard ◽  
Vytas SunSpiral ◽  
Hod Lipson
Keyword(s):  
Embodied Cognition ◽  
Initial Conditions ◽  
Control Policy ◽  
Sensorimotor Control ◽  
Body Plan ◽  
The Body ◽  
Test Bed ◽  
Local Optima ◽  
Close Coupling ◽  
And Control

Evolution sculpts both the body plans and nervous systems of agents together over time. By contrast, in artificial intelligence and robotics, a robot's body plan is usually designed by hand, and control policies are then optimized for that fixed design. The task of simultaneously co-optimizing the morphology and controller of an embodied robot has remained a challenge. In psychology, the theory of embodied cognition posits that behaviour arises from a close coupling between body plan and sensorimotor control, which suggests why co-optimizing these two subsystems is so difficult: most evolutionary changes to morphology tend to adversely impact sensorimotor control, leading to an overall decrease in behavioural performance. Here, we further examine this hypothesis and demonstrate a technique for ‘morphological innovation protection’, which temporarily reduces selection pressure on recently morphologically changed individuals, thus enabling evolution some time to ‘readapt’ to the new morphology with subsequent control policy mutations. We show the potential for this method to avoid local optima and converge to similar highly fit morphologies across widely varying initial conditions, while sustaining fitness improvements further into optimization. While this technique is admittedly only the first of many steps that must be taken to achieve scalable optimization of embodied machines, we hope that theoretical insight into the cause of evolutionary stagnation in current methods will help to enable the automation of robot design and behavioural training—while simultaneously providing a test bed to investigate the theory of embodied cognition.

A Comprehensive Test System for Precision Transmission Performance of CORT Reducer

2013 ◽  
Vol 333-335 ◽  
pp. 2448-2451
Author(s):  
Yong Li ◽  
Guang Ma ◽  
Yun De Shen ◽  
Tai Hong Cheng ◽  
Zhen Zhe Li ◽  
...  
Keyword(s):  
Performance Test ◽  
Velocity Ratio ◽  
Test System ◽  
Test Method ◽  
Transmission Performance ◽  
Test Bed ◽  
Comprehensive Test ◽  
Return Difference ◽  
And Control ◽  
Torque Angle

To meet the needs of test for compound oscillatory roller transmission (CORT) reducer, A comprehensive test system for precision transmission performance was designed, the test-bed structure and control principal of which were introduced. First, a transmission performance test method was proposed and focused on the transmission performance of velocity ratio, accuracy, and efficiency. Then, user interface based on LabVIEW program was designed, and the transmission performance of torque, angle, velocity, velocity ratio, return difference, efficiency could be displayed. Finally, measurement example on an E80 type CORT reducer has been made, and shows that the proposed test system is suitable for test for these reducers of high-precision drive, high stiffness, high load characteristics.

scholarly journals Hardware in the Loop Testing of Microsatellite Components

2021 ◽  
Author(s):  
Sarah Hardacre
Keyword(s):  
Kalman Filter ◽  
Hardware In The Loop ◽  
Small Satellite ◽  
Test Bed ◽  
Robust Controller ◽  
Satellite Systems ◽  
Helmholtz Coils ◽  
Space Agency ◽  
Satellite Sensors ◽  
And Control

The desire to bring space travel to a wider range of missions and uses has driven the market to using smaller and thus more affordable satellite systems. The Canadian Space Agency is completing the design and construction of a small satellite named QuickSat, which will utilize a magnetometer as one of its attitude and orbit determination instruments. A test bed comprised of three pairs of Helmholtz coils was used for hardware in the loop testing of the magnetometer. Testing was initially completed to prove the capabilities of the test bed, and then was completed to demonstrate the capabilities of the flight qualified magnetometer. The three pairs of Helmholtz coils were driven by data calculated from a spherical harmonic model of the Earth's magnetic field The coils were controlled using a robust controller and the magnetometer was used to drive the B-dot control law in the QuickSat simulation. The Ryerson Attitude and Control Experiment (RACE), which is a small satellite sized platform, free to spin about one axis on a near frictionless air bearing, was utilized to develop and test a system to deal with redundancy of satellite sensors. The possibility of missing, noisy or erroneous output during flight requires that a filter be applied to a satellite's flight code to determine with accuracy the attitude and orbit of the spacecraft. It was thus decided that a Kalman Filter be applied to RACE. The Kalman filter was applied to the RACE simulation successfully and initial hardware testing was carried out.

The Swirling Pendulum: Conceptualization, Modeling, Equilibria and Control Synthesis

2020 ◽  
Author(s):  
Sujay D. Kadam ◽  
Utsav Shah ◽  
Alrick D’Souza ◽  
Prajwal Gowdru Shanthamurthy ◽  
Nidhish Raj ◽  
...  
Keyword(s):  
Equilibrium Points ◽  
Point Of View ◽  
Control Synthesis ◽  
Test Bed ◽  
Lagrange’S Equation ◽  
Systems And Control ◽  
System Inversion ◽  
And Control ◽  
Two Degree Of Freedom ◽  
Present Simulation

Abstract This paper introduces the swirling pendulum, a two-link, two degree-of-freedom mechanism which is under-actuated and has an unusual non-planar coupling with axis of rotation of the two links being perpendicular to each other. The swirling pendulum mechanism, while being simple to mathematically represent and easy to physically construct, exhibits several properties like loss of inertial coupling, loss of relative degree, multiple stable and unstable equilibrium points. These properties are unique as well as interesting from dynamics and controls point of view which make the swirling pendulum an excellent test-bed for testing various ideas in control and demonstrating several notions associated with systems and control theory. In this paper, we discuss the modeling of the swirling pendulum mechanism based on Lagrange’s equation along with an analysis related to equilibrium points and their stability. We also present simulation results for regulatory as well as tracking control tasks through simulations on a non-linear model using control methods like LQR, lead compensator and system inversion-based control to demonstrate the utility of the proposed mechanism in the area of systems, control and dynamics. Furthermore, we also discuss experimental results for controls applied on a real-time hardware setup.

Experimental Investigation of Stresses in Winch Drums Subjected to Multilayer Spooling Loads From Synthetic Fibre Ropes

2019 ◽  
Author(s):  
Reidar André Skarbøvik ◽  
Henry Piehl ◽  
Sverre Torben ◽  
Mette Lokna Nedreberg ◽  
Vilmar Æsøy
Keyword(s):  
Experimental Investigation ◽  
High Performance ◽  
Synthetic Fibre ◽  
Steel Wire ◽  
High Strength ◽  
Wire Rope ◽  
First Results ◽  
Large Water ◽  
Marine Applications ◽  
And Control

Abstract In many marine applications, modern high-performance synthetic fibre ropes have replaced, and are continuing to replace, well-known steel wire rope solutions due to the low weight of the synthetic ropes removing limitations for operations at large water depths. In some cases, replacement of steel wires with synthetic ropes has caused permanent deformations and damage to multilayer winch drums, indicating that synthetic fibre ropes can cause larger pressure on winch drums than steel wire. This paper presents the first results from a novel experimental investigation of a multilayer winch subjected to a selection of braided high-performance synthetic fibre ropes and a reference steel wire rope. The tested ropes, with nominal diameters between 12 and 20mm, are spooled at different tensile loads and with maximum number of layers in the range of 10 to 19. The experiments utilize a test rig with two winch drums, controllable spooling gear and sheaves with load cells to apply and control required load and speed during spooling. Measurements from twelve biaxial strain gauges on the inside of a thick high-strength drum are used to measure stresses in the structure. The results show that the selected fibre ropes induce considerably larger stress in the winch drum than the steel wire rope. This confirms that design of multilayer winch drums with high-performance synthetic fibre ropes requires special considerations and that the guidance for multilayer stress calculations, related to steel wire ropes, in DNV-GL-0378 “Standard for offshore and platform lifting appliances” is not applicable for synthetic fibre rope applications.

Task-Allocation and Control of a Ground Robots Collective for Warehouse Automation

2015 ◽  
Author(s):  
Mehmet Ali Guney ◽  
Ioannis Raptis
Keyword(s):  
System Architecture ◽  
Task Allocation ◽  
Arbitrary Number ◽  
Small Scale ◽  
Automation System ◽  
Test Bed ◽  
Allocation Algorithm ◽  
Automation Systems ◽  
Algorithmic Design ◽  
And Control

In the last years, there have been several attempts to deploy Autonomous Guided Vehicles (AGVs) to automate the operation of warehouse environments. The implementation of AGVs has numerous advantages over conventional warehouse automation systems in terms of cost and scalability. In this work, we present the development of a test-bed platform for the utilization of an AGV collective to a warehouse automation system. The system architecture has plug-and-play algorithmic design which makes it extremely modular. In this system, small-scale robotic forklifts are used to transport an arbitrary number of circular pallets to predefined locations. The forklift robots are able to move in the arena without colliding each other due to the implementation of a centralized deconfliction algorithm. A task allocation algorithm prevents the forklift drives from being trapped by a fence of pallets. The performance of the proposed system is validated by both simulation and experimental results.

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