SphereWalker: A Hexapod Walking Machine

2020 ◽  
Vol 1 (1) ◽  
Author(s):  
Pierre Larochelle ◽  
Xiaoyang Mao
Keyword(s):  
Control System ◽  
The Other ◽  
Walking Machine ◽  
Digital Twin ◽  
Physical Prototype ◽  
And Control

Abstract This article describes the design and the development of a novel six-legged robotic walking machine named SphereWalker. The six legs are arranged into pairs, and each pair of legs is supported and actuated by a single spherical four-bar mechanism. Two of the four-bar mechanisms are operated in a synchronous fashion, while the middle one is operated at 180 deg out of phase with respect to the other two. A physical prototype has been built, a digital twin has been generated, an actuation and control system has been designed, and the technology has been patented.

Study on Monitoring and Control System of Vehicle-Mounted Rig Based on CAN Bus

2013 ◽  
Vol 397-400 ◽  
pp. 1655-1660 ◽  
Author(s):  
Dong Fan ◽  
Yin Sheng Weng ◽  
Hong Liang Tian
Keyword(s):  
Control System ◽  
Real Time ◽  
Data Transmission ◽  
Can Bus ◽  
The Other ◽  
Monitoring And Control ◽  
Monitoring And Control System ◽  
Reliable Transmission ◽  
Program Flow ◽  
And Control

The monitoring and control system based on CAN bus was designed in order to implement the data reliable transmission between all nodes in the control system of the vehicle-mounted rig. Firstly, the hardware structure of the monitoring system was designed in the paper, and two CAN network was built, which one CAN network used CANopen protocol and the other used J1939 protocol and CAN2.0B protocol, that it saved the resource of hardware and software. Secondly, all CAN protocols , program flow chart and software with Labview were designed in detail. The application results of the actual engineering showed that it realized the function of data transmission with each console and real-time monitoring.

scholarly journals The Contractile and Control Sites of Natural Actomyosin

1967 ◽  
Vol 50 (10) ◽  
pp. 2421-2435 ◽  
Author(s):  
Harvey M. Levy ◽  
Elizabeth M. Ryan
Keyword(s):  
Control System ◽  
Driving Force ◽  
Inhibitory Action ◽  
Atp Hydrolysis ◽  
The Other ◽  
Contractile System ◽  
Contraction And Relaxation ◽  
And Control ◽  
Kinetics Of ◽  
Hydrolysis Of

The various contractile and control sites of natural actomyosin gel were studied by comparing the kinetics of ATP hydrolysis with those of gel contraction, measured as an increase in turbidity. Contraction of actomyosin gel seems to require the cooperative reaction of ATP (with Mg) at two different sites. One of these sites catalyzes the hydrolysis of ATP and most probably contributes the driving force for contraction; the binding of ATP to the other site appears to break certain links that retard movement of the gel components. At limiting concentrations of ATP, the rate of contraction seems to depend on the rate of breaking these links as well as on the rate of ATP hydrolysis. But when both sites are saturated, the rate of contraction appears to be limited only by the rate of ATP hydrolysis. In addition to these two contractile sites, there are also two different control sites. At one, the relaxing site, the binding of ATP with Mg inhibits ATP hydrolysis and gel contraction. At the other, the binding of calcium activates contraction by overcoming the inhibitory action of Mg and ATP at the relaxing site. This control system—inhibition by substrate and disinhibition by calcium—can be selectively inactivated by heat and reactivated by dithiothreitol, a disulfide-reducing agent. These observations on the isolated contractile system are discussed in relation to the contraction and relaxation of muscle.

Stingray Pipeline Automated Measurement and Control System

1977 ◽  
Author(s):  
L. D. Murry ◽  
D. D. C. Lue
Keyword(s):  
Control System ◽  
Natural Gas ◽  
Computer Control ◽  
The Other ◽  
Automated Measurement ◽  
Control Center ◽  
Measurement And Control System ◽  
Advantages And Disadvantages ◽  
And Control ◽  
Measurement And Control

This paper discusses the Stingray Pipeline automated measurement and control system installed by Teledyne Geotech early in 1976. The system includes computer control and monitor of two Stingray natural gas compressor stations with a communications interface between the stations and the Stingray gas control center (GCC) located in Houston, Tex. Each station contains turbine/compressor units, with one station located onshore and the other station being an offshore facility. Included is a description of the system, the system functions and capabilities, and interrelationships between the stations and GCC. Advantages and disadvantages of the system are also discussed.

scholarly journals Digital-twin-based improvements to diagnosis, prognosis, strategy assessment, and discrepancy checking in a nearly autonomous management and control system

2022 ◽  
Vol 166 ◽  
pp. 108715
Author(s):  
Linyu Lin ◽  
Paridhi Athe ◽  
Pascal Rouxelin ◽  
Maria Avramova ◽  
Abhinav Gupta ◽  
...  
Keyword(s):  
Control System ◽  
Digital Twin ◽  
Autonomous Management ◽  
And Control

The Remote Control a Tele-Robot 5R by Using Dual-Tone Modulation

2013 ◽  
Vol 307 ◽  
pp. 103-106
Author(s):  
Hamed Aghili
Keyword(s):  
Control System ◽  
Remote Control ◽  
Delay Time ◽  
System Development ◽  
The Other ◽  
Multiple Frequency ◽  
Local Networks ◽  
Interface System ◽  
Adaptive Ability ◽  
And Control

This paper proposes replacement of a tele-controller system to base on DTMF in spite of tele-system web. It is found that telesystem with Dual Tone Multiple Frequency has a large capability in send-receiving of data in hardware and software. It dos not need to install of a PC for receiving and processing of data as tone modulated form from slave side. In other hand, its adaptive ability with different phone lines and no any need to spare devices of network such as net card or modem and no contribution from local networks of internet and finally different master interfacing capabilities with a single slave are examples of the advantages of the system. Also, synchronous using of internet lines like ADSL in other applications such as video image sending (due to system development) is one of the other advantages of it. This paper describes several interface system and control system with experimentally tests according to the ISO9283 standard and Delay-Time in this the Tele-Robot.

Prothrombin Time Standardization: Report of the Expert Panel on Oral Anticoagulant Control

1979 ◽  
Vol 42 (04) ◽  
pp. 1073-1114 ◽  
Keyword(s):  
Prothrombin Time ◽  
Expert Panel ◽  
The Other ◽  
Rabbit Brain ◽  
Calibration Constant ◽  
Freeze Dried ◽  
The Mean ◽  
Point Of Intersection ◽  
And Control ◽  
Standardization Report

SummaryIn collaborative experiments in 199 laboratories, nine commercial thromboplastins, four thromboplastins held by the National Institute for Biological Standards and Control (NIBS & C), London and the British Comparative Thromboplastin were tested on fresh normal and coumarin plasmas, and on three series of freeze-dried plasmas. One of these was made from coumarin plasmas and the other two were prepared from normal plasmas; in each series, one plasma was normal and the other two represented different degrees of coumarin defect.Each thromboplastin was calibrated against NIBS&C rabbit brain 70/178, from the slope of the line joining the origin to the point of intersection of the mean ratios of coumarin/normal prothrombin times when the ratios obtained with the two thromboplastins on the same fresh plasmas were plotted against each other. From previous evidence, the slopes were calculated which would have been obtained against the NIBS&C “research standard” thromboplastin 67/40, and termed the “calibration constant” of each thromboplastin. Values obtained from the freeze-dried coumarin plasmas gave generally similar results to those from fresh plasmas for all thromboplastins, whereas values from the artificial plasmas agreed with those from fresh plasmas only when similar thromboplastins were being compared.Taking into account the slopes of the calibration lines and the variation between laboratories, precision in obtaining a patient’s prothrombin time was similar for all thromboplastins.

Development of a Jacobian Module for Advanced Pulp and Paper Simulation and Control

TAPPI Journal ◽  
2009 ◽  
Vol 8 (1) ◽  
pp. 4-11
Author(s):  
MOHAMED CHBEL ◽  
LUC LAPERRIÈRE
Keyword(s):  
Control System ◽  
Nonlinear Behavior ◽  
Simulation Software ◽  
Pulp And Paper ◽  
Pid Controllers ◽  
Tuning Parameters ◽  
Pid Tuning ◽  
Fixed Set ◽  
And Control ◽  
Operating Points

Pulp and paper processes frequently present nonlinear behavior, which means that process dynam-ics change with the operating points. These nonlinearities can challenge process control. PID controllers are the most popular controllers because they are simple and robust. However, a fixed set of PID tuning parameters is gen-erally not sufficient to optimize control of the process. Problems related to nonlinearities such as sluggish or oscilla-tory response can arise in different operating regions. Gain scheduling is a potential solution. In processes with mul-tiple control objectives, the control strategy must further evaluate loop interactions to decide on the pairing of manipulated and controlled variables that minimize the effect of such interactions and hence, optimize controller’s performance and stability. Using the CADSIM Plus™ commercial simulation software, we developed a Jacobian sim-ulation module that enables automatic bumps on the manipulated variables to calculate process gains at different operating points. These gains can be used in controller tuning. The module also enables the control system designer to evaluate loop interactions in a multivariable control system by calculating the Relative Gain Array (RGA) matrix, of which the Jacobian is an essential part.

Dry chip feedrate control using online chip moisture

TAPPI Journal ◽  
2018 ◽  
Vol 17 (05) ◽  
pp. 295-305
Author(s):  
Wesley Gilbert ◽  
Ivan Trush ◽  
Bruce Allison ◽  
Randy Reimer ◽  
Howard Mason
Keyword(s):  
Production Rate ◽  
Control Strategy ◽  
Rate Control ◽  
Near Infrared ◽  
Dry Mass ◽  
The Other ◽  
Process Variability ◽  
Moisture Sensor ◽  
Feedback Control Strategy ◽  
And Control

Normal practice in continuous digester operation is to set the production rate through the chip meter speed. This speed is seldom, if ever, adjusted except to change production, and most of the other digester inputs are ratioed to it. The inherent assumption is that constant chip meter speed equates to constant dry mass flow of chips. This is seldom, if ever, true. As a result, the actual production rate, effective alkali (EA)-to-wood and liquor-to-wood ratios may vary substantially from assumed values. This increases process variability and decreases profits. In this report, a new continuous digester production rate control strategy is developed that addresses this shortcoming. A new noncontacting near infrared–based chip moisture sensor is combined with the existing weightometer signal to estimate the actual dry chip mass feedrate entering the digester. The estimated feedrate is then used to implement a novel feedback control strategy that adjusts the chip meter speed to maintain the dry chip feedrate at the target value. The report details the results of applying the new measurements and control strategy to a dual vessel continuous digester.

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