S3—New Type of High-Performance Semisubmerged Ship

1972 ◽  
Vol 94 (4) ◽  
pp. 1171-1177 ◽  
Author(s):  
T. G. Lang
Keyword(s):  
Automatic Control ◽  
Dynamic Stability ◽  
High Speed ◽  
High Performance ◽  
New Type ◽  
Internal Volume ◽  
And Control ◽  
High Degree ◽  
Control Surfaces

The S3 semisubmerged ship concept consists basically of two parallel torpedo-like hulls, submerged to a depth of about two diameters and attached to an above-water platform by means of four vertical struts. Horizontal fins and control surfaces attached to the hulls provide dynamic stability and permit full automatic control over pitch, heave, and roll. The anticipated advantages of the S3 over conventional ships are greatly improved seaworthiness, high-speed potential, large internal volume and deck area, controllability, and many aspects of its unusual hydrodynamic form. The S3 concept appears to be most applicable to small ships (100 to 15,000 tons) having missions associated with the use of sonar—the handling of aircraft, weapons, or submersibles—and for missions requiring a high degree of seaworthiness and stability.

Optimal Simultaneous Kinematic, Dynamic and Control Design of High Performance Manipulators Based on Trajectory Pattern Method

1998 ◽  
Author(s):  
J. Rastegar ◽  
L. Liu ◽  
M. Mattice
Keyword(s):  
High Speed ◽  
High Performance ◽  
Optimality Criterion ◽  
Control Design ◽  
Tracking Errors ◽  
Motion Patterns ◽  
Trajectory Pattern ◽  
And Control ◽  
Velocity Tracking ◽  
Trajectory Pattern Method

Abstract An optimal simultaneous kinematic, dynamic and control design approach is proposed for high performance computer controlled machines such as robot manipulators. The approach is based on the Trajectory Pattern Method (TPM) and a fundamentally new design philosophy that such machines in general and ultra-high performance machines in particular must only be designed to perform a class or classes of motions effectively. In the proposed approach, given the structure of the manipulator, its kinematic, dynamic and control parameters are optimized simultaneously with the parameters that describe the selected trajectory pattern. In the example presented in this paper, a weighted sum of the norms of the higher harmonics appearing in the actuating torques and the integral of the position and velocity tracking errors are used to form the optimality criterion. The selected optimality criterion should yield a system that is optimally designed to accurately follow the specified trajectory at high speed. Other objective functions can be readily formulated to synthesize systems for optimal performance. The potentials of the developed method and its implementation for generally defined motion patterns are discussed.

Real-Time Validation and Control Environment for Parallel Robot Control Design

2011 ◽  
Author(s):  
A. Zubizarreta ◽  
E. Portillo ◽  
I. Cabanes ◽  
M. Marcos ◽  
Ch. Pinto
Keyword(s):  
High Speed ◽  
High Performance ◽  
Experimental Testing ◽  
Control Design ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Full Potential ◽  
Control Environment ◽  
High Level ◽  
And Control

Due to their high performance when executing high-speed and accurate tasks, parallel robots have became the focus of many researchers and companies. However, exploiting the full potential of these robots requires a correct mechatronic design, in which the designed mechanism has to be controlled by a suitable control law in order to achieve the maximum performance. In this paper a novel Validation and Control Environment (VALIDBOT) is proposed as a support for the control design and experimental testing stages of these robots. The proposed open and flexible environment is designed to meet rapid prototyping requirements, offering a high level framework for both students and researchers. The capabilities of the environment are illustrated with an application case based on a 5R parallel robot prototype in which a modified CTC controller is tested.

Trajectory Pattern Based Simultaneous Kinematic and Dynamic Optimal Design of High Speed Manipulators

1996 ◽  
Author(s):  
M. Tai ◽  
J. Rastegar
Keyword(s):  
Optimal Design ◽  
High Speed ◽  
High Performance ◽  
Current Approach ◽  
Operating Conditions ◽  
Control Problems ◽  
Structure And Motion ◽  
Design Variables ◽  
Trajectory Pattern ◽  
And Control

Abstract An integrated structure and motion pattern specific design approach is proposed for optimal design of high speed and accuracy computer controlled machines including robots. The approach is based on the Trajectory Pattern Method (TPM). The current approach to the design of such machines is to assume that the machine will be required to perform more or less any arbitrary and often unrealistic tasks. This assumption nearly always leads to designs based on the worst operating conditions. The proposed trajectory pattern based design methodology presented in this paper stems from a fundamentally new design philosophy. The philosophy behind the proposed approach is that machines in general and ultra-high performance machines in particular must only be designed to perform a class or classes of motions effectively. And that trajectory patterns, i.e., classes of parametric trajectories, exist with which high speed motions can be synthesized with minimal ensuing vibration and control problems. In the proposed approach, given the kinematic structure of the machine, its kinematic and dynamic parameters are optimized simultaneously with the parameters that describe a selected trajectory pattern. The controller parameters may also be included as design variables. In the present study, the optimality criterion employed is based on minimizing the higher harmonic portion of the actuating forces (torques) required for performing the selected class(es) of motion patterns. Trajectories that do not demand high frequency actuating torque harmonics are desirable since they reduce vibration and control problems in high performance systems and reduce settling time. Examples of the application of the proposed approach are presented.

Design and Control of Active Magnetic Bearing System With Lorentz Force Type Axial Actuator

2003 ◽  
Author(s):  
Ha-Yong Kim ◽  
Chong-Won Lee
Keyword(s):  
High Performance ◽  
Permanent Magnets ◽  
Magnetic Bearing ◽  
Active Magnetic Bearing ◽  
Distribution Analysis ◽  
New Type ◽  
Radial Forces ◽  
Space Limitation ◽  
Amb System ◽  
And Control

As the size of 5-axis active magnetic bearing (AMB) gets smaller, the space limitation for installation of axial magnetic bearing unit becomes stringent. In this paper, a new type of compact, high-performance 5-axis AMB with solid cores and rotor is proposed, which consists of four permanent magnets, four U-shaped cores and 16 control coils. The proposed homopolar AMB system is levitated by the Lorentz type axial as well as Maxwell type radial forces. Based on the magnetic flux distribution analysis, the control algorithm is designed to account for the coupled effect between the radial and axial control fluxes. Experiments are also carried out with a prototype AMB system to validate the new design concept.

Study on CNC System of Parallel Mechanism

2010 ◽  
Vol 37-38 ◽  
pp. 1273-1277
Author(s):  
Xue Yong Zhong ◽  
Yan Bing Ni ◽  
Pan Feng Wang ◽  
Zhi Yong Yang
Keyword(s):  
Virtual Instrument ◽  
Parallel Mechanism ◽  
High Speed ◽  
High Performance ◽  
Functional Module ◽  
Numerical Control ◽  
Open Architecture ◽  
Parallel Mechanisms ◽  
Cnc System ◽  
And Control

In this paper, the open architecture technique is used to develop the computer numerical control (CNC) system of parallel mechanism. The personal computer (PC) with high-performance motion control card Flex-6C and virtual instrument software package are utilized as the hardware and software platforms, respectively. The interface between motion controller and servo system is designed, and the core functional module and control software is programmed. Further it is successfully applied in a series of parallel mechanisms, which serves as the foundation for achieving the high-speed and high-precision control of such kinds of parallel mechanism.

The Research and Development of a New Type of Metal Wire-Buckling Machine

2012 ◽  
Vol 490-495 ◽  
pp. 793-796
Author(s):  
Yue Hui Liu ◽  
Wen Xue Liu ◽  
Gen Li Shan
Keyword(s):  
Research And Development ◽  
High Efficiency ◽  
Control Flow ◽  
Metal Wire ◽  
Compact Structure ◽  
Operational Principle ◽  
New Type ◽  
And Control ◽  
High Degree

Designing of a new type of metal wire-buckling machine, introducing the overall structure, operational principle and control flow of the equipment. The machine can realize the feeding, straightening, cutting off, shaping, returning material procedures of the metal wire automatically, with features of high degree of automation, compact structure, good quality and high efficiency.

scholarly journals Multimedia Presentation Integrating Media with Virtual 3D Realistic Environment Produced in Real Time with High Performance Processing

2014 ◽  
Vol 5 (1) ◽  
pp. 1
Author(s):  
Arthur Pedro de Godoy ◽  
Caio César Viel ◽  
Erick Lazaro Melo ◽  
Diego Roberto Colombo Dias ◽  
Luis Carlos Trevelin ◽  
...  
Keyword(s):  
Video Streaming ◽  
High Performance ◽  
User Interaction ◽  
Multimedia Presentation ◽  
Interactive Animation ◽  
Computer Environment ◽  
3D Environments ◽  
New Type ◽  
Potential Demand ◽  
High Degree

Sophisticated interactive animation may be an interesting element to compose a multimedia document. However, potential demand for high performance computing can make this option impractical in digital interactive TV and mobile device environments, due to computing power restrictions of such platforms, especially when one consider the processing of complex 3D environments with a high degree of realism. In previous work, we proposed a solution to overcome such restrictions based on video streaming. Moving forward, in this paper is presented a solution that is more independent of platform, but still based on the same principle of video streaming. Each module can be specialized in different ways to solve problems related to the computer environment, such as network restrictions and latency on user interaction. Also in this paper is described how to take advantage of media-agnostic feature of some multimedia presentation machines to integrate this type of complex 3D media into multimedia documents. As a proof of concept, we extended and tested an NCL presentation engine to add support to this new type of media.

Sign in / Sign up

Export Citation Format

Share Document