On the Drive Systems for High-Performance Machines

1984 ◽  
Vol 106 (1) ◽  
pp. 102-108 ◽  
Author(s):  
K. A. Pasch ◽  
W. P. Seering
Keyword(s):  
High Performance ◽  
Mechanical Constraints ◽  
Transmission Mechanisms ◽  
Angular Velocities ◽  
Drive Systems ◽  
Time Required

The choice of actuators and transmissions in high performance machines and manipulators can have a profound effect on the time required for a specified machine task. For systems operating with mechanical constraints, such as limits on allowable angular velocities in motors, designing for greatest achievable acceleration will not always minimize move time. In this paper the effects on performance of ranges of choices of actuators and transmission mechanisms are evaluated, and guidelines for choosing the optimal drive elements are presented.

scholarly journals Statistical and machine learning models for optimizing energy in parallel applications

2019 ◽  
Vol 33 (6) ◽  
pp. 1079-1097 ◽  
Author(s):  
Mark Endrei ◽  
Chao Jin ◽  
Minh Ngoc Dinh ◽  
David Abramson ◽  
Heidi Poxon ◽  
...  
Keyword(s):  
Machine Learning ◽  
Energy Efficiency ◽  
High Performance ◽  
Large Scale ◽  
Energy Use ◽  
Parallel Applications ◽  
Learning Models ◽  
Trade Off ◽  
Time Required ◽  
Machine Learning Models

Rising power costs and constraints are driving a growing focus on the energy efficiency of high performance computing systems. The unique characteristics of a particular system and workload and their effect on performance and energy efficiency are typically difficult for application users to assess and to control. Settings for optimum performance and energy efficiency can also diverge, so we need to identify trade-off options that guide a suitable balance between energy use and performance. We present statistical and machine learning models that only require a small number of runs to make accurate Pareto-optimal trade-off predictions using parameters that users can control. We study model training and validation using several parallel kernels and more complex workloads, including Algebraic Multigrid (AMG), Large-scale Atomic Molecular Massively Parallel Simulator, and Livermore Unstructured Lagrangian Explicit Shock Hydrodynamics. We demonstrate that we can train the models using as few as 12 runs, with prediction error of less than 10%. Our AMG results identify trade-off options that provide up to 45% improvement in energy efficiency for around 10% performance loss. We reduce the sample measurement time required for AMG by 90%, from 13 h to 74 min.

Design and evaluation of a high-performance haptic interface

Robotica ◽  
1996 ◽  
Vol 14 (3) ◽  
pp. 321-327 ◽  
Author(s):  
R.E. Ellis ◽  
O.M. Ismaeil ◽  
M.G. Lipsett
Keyword(s):  
High Performance ◽  
Dynamic Range ◽  
Evaluation Criteria ◽  
Haptic Interface ◽  
Human Operator ◽  
Haptic Interfaces ◽  
Environment Design ◽  
Mechanical Constraints ◽  
Computer Controlled ◽  
The Many

SUMMARYA haptic interface is a computer-controlled mechanism designed to detect motion of a human operator without impeding that motion, and to feed back forces from a teleoperated robot or virtual environment. Design of such a device is not trivial, because of the many conflicting constraints the designer must face.As part of our research into haptics, we have developed a prototype planar mechanism. It has low apparent mass and damping, high structural stiffness, high force bandwidth, high force dynamic range, and an absence of mechanical singularities within its workspace. We present an analysis of the human-operator and mechanical constraints that apply to any such device, and propose methods for the evaluation of haptic interfaces. Our evaluation criteria are derived from the original task analysis, and are a first step towards a replicable methodology for comparing the performance of different devices.

Nomographs for Enumeration of Clutching Sequences Associated With Epicyclic-Type Automatic Transmission Mechanisms

2008 ◽  
Author(s):  
Essam L. Esmail
Keyword(s):  
Automatic Transmission ◽  
Root Cause ◽  
Transmission Mechanisms ◽  
Epicyclic Gear ◽  
Angular Velocities ◽  
Gear Mechanism ◽  
Gear Trains ◽  
Exact Size ◽  
Algorithmic Techniques ◽  
Transmission Gear

A new methodology for the enumeration of feasible clutching sequences for a given epicyclic gear mechanism (EGM) is presented using the kinematic nomographs of epicyclic-type transmission mechanisms. From such nomographs, the kinematic characteristics of an epicyclic gear mechanism can be expressed in terms of the gear ratios of its gear pairs. From a single nomograph, the angular velocities for all of the coaxial links can be estimated and compared directly without specifying the exact size of each gear. In addition, the angular velocities can be arranged in a descending sequence without using complicated artificial intelligence or algorithmic techniques. Then, a procedure for the enumeration of feasible clutching sequences associated with a transmission mechanism composed of two or more fundamental gear entities (FGEs) is developed. The reliability of the methodology is established by applying it to two transmission gear trains for which solutions are either fully or partially available in the literature. In the process, an incomplete in the results reported in previous literature is brought to light. And the root cause of this incompleteness is explored. The present methodology is judged to be more efficient for enumeration of all feasible clutching sequences of an EGM.

Fundamentals of Solid-State AC Variable-Speed Drives

1969 ◽  
Vol 6 (01) ◽  
pp. 76-82
Author(s):  
Donald L. Schoen
Keyword(s):  
Solid State ◽  
High Performance ◽  
Practical Implementation ◽  
Variable Speed ◽  
Variable Speed Drives ◽  
Ac Drive ◽  
Ac Motor ◽  
Economic Trends ◽  
History Of ◽  
Drive Systems

Solid-state ac variable-frequency drives offer a new generation of high-performance, maintenance-free drive systems. The desire to use the rugged ac motor as a high-performance, variable-speed device goes back many years; however, its practical implementation had to wait three-quarters of a century for development of the silicon controlled rectifier. This paper opens with a brief review of the history of variable-speed dc and ac drive systems. Then the fundamentals of solid-state ac variable-speed drives are presented with emphasis on future technical and economic trends. The ac system is evaluated as an economic solution to providing basic functional drive requirements. The characteristics are compared with traditional high-performance dc systems. Finally, an attempt is made to describe the solid-state ac variable-speed drive of the future.

scholarly journals Run-Time and Compiler Support for Programming in Adaptive Parallel Environments

1997 ◽  
Vol 6 (2) ◽  
pp. 215-227 ◽  
Author(s):  
Guy Edjlali ◽  
Gagan Guyagrawal ◽  
Alan Sussman ◽  
Jim Humphries ◽  
Joel Saltz
Keyword(s):  
Parallel Programming ◽  
High Performance ◽  
Navier Stokes ◽  
Programming Environments ◽  
Data Parallel ◽  
Adaptive Environment ◽  
Run Time ◽  
Time Required ◽  
The Cost ◽  
Performance Results

For better utilization of computing resources, it is important to consider parallel programming environments in which the number of available processors varies at run-time. In this article, we discuss run-time support for data-parallel programming in such an adaptive environment. Executing programs in an adaptive environment requires redistributing data when the number of processors changes, and also requires determining new loop bounds and communication patterns for the new set of processors. We have developed a run-time library to provide this support. We discuss how the run-time library can be used by compilers of high-performance Fortran (HPF)-like languages to generate code for an adaptive environment. We present performance results for a Navier-Stokes solver and a multigrid template run on a network of workstations and an IBM SP-2. Our experiments show that if the number of processors is not varied frequently, the cost of data redistribution is not significant compared to the time required for the actual computation. Overall, our work establishes the feasibility of compiling HPF for a network of nondedicated workstations, which are likely to be an important resource for parallel programming in the future.

scholarly journals Control of a Direct-Drive Arm

1983 ◽  
Vol 105 (3) ◽  
pp. 136-142 ◽  
Author(s):  
H. Asada ◽  
T. Kanade ◽  
I. Takeyama
Keyword(s):  
Drive System ◽  
Direct Drive ◽  
Excellent Performance ◽  
Mechanical Stiffness ◽  
Feedback Controllers ◽  
Transmission Mechanisms ◽  
Single Link ◽  
High Torque ◽  
Drive Systems ◽  
Speed And Accuracy

A direct-drive arm is a mechanical arm in which the shafts of articulated joints are directly coupled to the rotors of motors with high torque. Since the arm does not contain transmission mechanisms between the motors and their loads, the drive system has no backlash, small friction, and high mechanical stiffness, all of which are desirable for fast, accurate, and versatile robots. First, the prototype robot is described, and basic feedback controllers for single-link drive systems are designed. Second, feedforward compensation is discussed. This compensation significantly reduces the effect of interactions among multiple joints and nonlinear forces. The experiments showed the excellent performance of the direct-drive arm in terms of speed and accuracy.

scholarly journals Developing a 3- to 6-state EEG-based brain-computer interface for a robotic manipulator control

2017 ◽  
Author(s):  
Yuriy Mishchenko ◽  
Murat Kaya ◽  
Erkan Ozbay ◽  
Hilmi Yanar
Keyword(s):  
Error Rate ◽  
High Performance ◽  
Processing System ◽  
Robotic Control ◽  
Signal Processing System ◽  
Eeg Data ◽  
Recent Developments ◽  
Assistive Systems ◽  
Time Required ◽  
Bci System

AbstractRecent developments in BCI techniques have demonstrated high-performance control of robotic prosthetic systems primarily via invasive methods. In this work we develop an electroencephalography (EEG) based noninvasive BCI system that can be used for a similar, albeit lower-speed robotic control, and a signal processing system for detecting user’s mental intent from EEG data based on up to 6-state motor-imagery BCI communication paradigm. We examine the performance of that system on experimental data collected from 12 healthy participants and analyzed offline. We show that our EEG BCI system can correctly identify different motor imageries in EEG data with high accuracy: 3 out of 12 participants achieved accuracy of 6-state communication in 80-90% range, while 2 participants could not achieve a satisfactory accuracy. We further implement an online BCI system for control of a virtual 3 degree-of-freedom prosthetic manipulator and test it with our 3 best participants. The participants’ ability to control the BCI is quantified by using the percentage of successfully completed BCI tasks, the time required to complete a task, and the error rate. 2 participants were able to successfully complete 100% of the test tasks, demonstrating on average the error rate of 80% and requiring 5-10 seconds to execute a manipulator move. 1 participant failed to demonstrate a satisfactory performance in online trials. Our results lay a foundation for further development of EEG BCI-based robotic assistive systems and demonstrate that EEG-based BCI may be feasible for robotic control by paralyzed and immobilized individuals.

scholarly journals Robust ANFIS Vector Control of Induction Motor Drive for High-Performance Speed Control Supplied by a Photovoltaic Generator

2020 ◽  
Vol 15 ◽  
Keyword(s):  
Vector Control ◽  
Induction Motor ◽  
High Performance ◽  
Fuzzy Inference ◽  
Speed Control ◽  
Inference System ◽  
Proportional Integral ◽  
Rotor Resistance ◽  
Resistance Variation ◽  
Drive Systems

This paper presents the vector control of Induction Motor (IM) supplied by a photovoltaic generatorwhich is controlled by an adaptive Proportional-Integral (PI) speed controller. The proposed solution is used toovercome the induction motor rotor resistance variation problem, which can affect negatively the performanceof the speed control. To overcome the rotor resistance variation, an adaptive Proportional-Integral controller isdeveloped with gains adaptation based on Adaptive Neuro-Fuzzy Inference System (ANFIS) in order to guaranteea high performances of electric drive systems against the parametric variations. The proposed control algorithmis tested by Matlab-Simulink. Analysis of the obtained results shows the characteristic robustness to disturbancesof the load torque and to rotor resistance variation compared to the classical PI control and Model ReferenceAdaptive System (MRAS) rotor resistance observers.

scholarly journals Referential DNA Data Compression using Hadoop Map Reduce Framework

2019 ◽  
Vol 17 (2) ◽  
pp. 207-214
Author(s):  
Raju Bhukya ◽  
Sumit Deshmuk
Keyword(s):  
Data Compression ◽  
Dna Sequences ◽  
High Performance ◽  
Deoxyribonucleic Acid ◽  
Genetic Data ◽  
Disk Arrays ◽  
Distributed Environment ◽  
Mapreduce Framework ◽  
Hadoop Mapreduce ◽  
Time Required

The indispensable knowledge of Deoxyribonucleic Acid (DNA) sequences and sharply reducing cost of the DNA sequencing techniques has attracted numerous researchers in the field of Genetics. These sequences are getting available at an exponential rate leading to the bulging size of molecular biology databases making large disk arrays and compute clusters inevitable for analysis.In this paper, we proposed referential DNA data compression using hadoop MapReduce Framework to process humongous amount of genetic data in distributed environment on high performance compute clusters. Our method has successfully achieved a better balance between compression ratio and the amount of time required for DNA data compression as compared to other Referential DNA Data Compression methods.

scholarly journals Biomechanics and hydrodynamics of prey capture in the Chinese giant salamander reveal a high-performance jaw-powered suction feeding mechanism

2013 ◽  
Vol 10 (82) ◽  
pp. 20121028 ◽  
Author(s):  
Egon Heiss ◽  
Nikolay Natchev ◽  
Michaela Gumpenberger ◽  
Anton Weissenbacher ◽  
Sam Van Wassenbergh
Keyword(s):  
High Speed ◽  
High Performance ◽  
Prey Capture ◽  
Three Dimensional ◽  
Cranial Morphology ◽  
Suction Feeding ◽  
Mechanical Constraints ◽  
Terrestrial Life ◽  
Chinese Giant Salamander ◽  
Dynamics Simulations

During the evolutionary transition from fish to tetrapods, a shift from uni- to bidirectional suction feeding systems followed a reduction in the gill apparatus. Such a shift can still be observed during metamorphosis of salamanders, although many adult salamanders retain their aquatic lifestyle and feed by high-performance suction. Unfortunately, little is known about the interplay between jaws and hyobranchial motions to generate bidirectional suction flows. Here, we study the cranial morphology, as well as kinematic and hydrodynamic aspects related to prey capture in the Chinese giant salamander ( Andrias davidianus ). Compared with fish and previously studied amphibians, A. davidianus uses an alternative suction mechanism that mainly relies on accelerating water by separating the ‘plates’ formed by the long and broad upper and lower jaw surfaces. Computational fluid dynamics simulations, based on three-dimensional morphology and kinematical data from high-speed videos, indicate that the viscerocranial elements mainly serve to accommodate the water that was given a sufficient anterior-to-posterior impulse beforehand by powerful jaw separation. We hypothesize that this modified way of generating suction is primitive for salamanders, and that this behaviour could have played an important role in the evolution of terrestrial life in vertebrates by releasing mechanical constraints on the hyobranchial system.

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