Low-level control software for the WEAVE spectrograph

Abstract The paper presents the first part of the final report on all the experiments with biomimetic autono-mous underwater vehicle (BAUV) performed within the confines of the project entitled ‘Autonomous underwater vehicles with silent undulating propulsion for underwater ISR’, financed by Polish National Center of Research and Development. The report includes experiments in the swimming pool as well as in real conditions, that is, both in a lake and in the sea. The tests presented in this part of the final report were focused on low-level control.

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Modeling and Reconstruction of State Variables for Low-Level Control of Soft Pneumatic Actuators

Frontiers in Robotics and AI ◽

10.3389/frobt.2021.557830 ◽

2021 ◽

Vol 8 ◽

Author(s):

Serhat Ibrahim ◽

Jan Christoph Krause ◽

Alexander Olbrich ◽

Annika Raatz

Keyword(s):

Inertial Measurement Unit ◽

Closed Loop ◽

Measurement Unit ◽

Closed Loop Control ◽

State Variables ◽

Level Control ◽

Pneumatic Actuators ◽

Loop Control ◽

Inertial Measurement ◽

Low Level

To further advance closed-loop control for soft robotics, suitable sensor and modeling strategies have to be investigated. Although there are many flexible and soft sensors available, the integration into the actuator and the use in a control loop is still challenging. Therefore, a state-space model for closed-loop low-level control of a fiber-reinforced actuator using pressure and orientation measurement is investigated. To do so, the integration of an inertial measurement unit and geometric modeling of actuator is presented. The piecewise constant curvature approach is used to describe the actuator’s shape and deformation variables. For low-level control, the chamber’s lengths are reconstructed from bending angles with a geometrical model and the identified material characteristics. For parameter identification and model validation, data from a camera tracking system is analyzed. Then, a closed-loop control of pressure and chambers’ length of the actuator is investigated. It will be shown, that the reconstruction model is suitable for estimating the state variables of the actuator. In addition, the use of the inertial measurement unit will demonstrate a cost-effective and compact sensor for soft pneumatic actuators.

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Simulasi Kontrol 2 Pompa Supplay Air Bersih Menggunakanrelay Change Over Dan Floatless Level Switch (Sebagai Modul Praktek Mahasiswa Ps Teknik Pendingin Dan Tata Udara)

JST (Jurnal Sains Terapan) ◽

10.32487/jst.v4i1.446 ◽

2018 ◽

Vol 4 (1) ◽

pp. 10-16

Author(s):

Sudirman Sudirman ◽

I Nyoman Gede Baliarta

Keyword(s):

Water Level ◽

Level Control ◽

Low Level ◽

Upper Level ◽

Underground Tank

Sistem supplay air bersih pasti ada dipasang disuatu gedung. Tujuan dari penelitian ini adalah untuk menciptakan modul praktek mahasiswa Program Studi Teknik Pendingin dalam mata Kuliah Praktek Utility Gedung dan BAS. Sehingga kompetensi mahasiswa tentang utility gedung, khususnya dibidang system pompa supplai air bersih bisa tercapai dengan lebih mudah. Modul praktek ini menggunakan 2 buah pompa, 2 buah tangki air, 1 sebagai tangki sebagai tangki underground tank dan 1 lagi sebagai tower tank. Menggunakan WLC (water level control) untuk mengontrol hidup mati pompa berdasarkan level air pada tangki tower. Dan menggunakan Relay Change over untuk merubah pompa on duty secara otomatis. Hasil uji kerja alat simulasi ini, saat level air pada tangki tower low level, Pompa 1 akan hidup sampai level air mencapai upper level dan akan Off, secara otomatis Relay change over merubah pompa on duty dari Pompa 1 ke Pompa 2. Pada saat level air mencapai low level lagi di tangki tower, yang hidup adalah Pompa 2.

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