Bi-Directional Optical-EtherCAT Communication for Motion Network Control of Humanoid Robot

2014 ◽  
Vol 11 (04) ◽  
pp. 1442006 ◽  
Author(s):  
Yong-Jin Kim ◽  
Kwang-Heon Kim ◽  
Yong-Seon Moon ◽  
Young-Chul Bae
Keyword(s):  
High Speed ◽  
Electromagnetic Compatibility ◽  
Evaluation Criteria ◽  
Network Control ◽  
Real Time Control ◽  
Communication Performance ◽  
Frame Size ◽  
Precise Control ◽  
Automation Systems ◽  
Communication Method

Currently, most industrial automation systems and robotic systems require the high-speed transmission of data and highly precise control. We introduce a new communication protocol that is immune to the electromagnetic compatibility (EMC) effect, and is able to reduce the space used in internal robots with limited space. In this paper, we present a novel optical-EtherCAT communication method to reduce EMC, to provide high-speed communication between each module, and to offer real-time control and flexible topology in the internal robot. Then, we verify the communication performance between the proposed optical-EtherCAT communication and previously established EtherCAT communication method. We use the transmission speed, frame size, usage rates of bandwidth, update speed, and cycle time of transmission as evaluation criteria.

A real-time control method-based simulation for high-speed trains on large-scale rail network

2017 ◽  
Vol 28 (10) ◽  
pp. 1750126 ◽  
Author(s):  
Yutong Liu ◽  
Chengxuan Cao ◽  
Yaling Zhou ◽  
Ziyan Feng
Keyword(s):  
Real Time ◽  
Traffic Flow ◽  
High Speed ◽  
Large Scale ◽  
Simulation Method ◽  
Real Time Control ◽  
Rail Network ◽  
Time Control ◽  
High Speed Trains ◽  
Rail Traffic

In this paper, an improved real-time control model based on the discrete-time method is constructed to control and simulate the movement of high-speed trains on large-scale rail network. The constraints of acceleration and deceleration are introduced in this model, and a more reasonable definition of the minimal headway is also presented. Considering the complicated rail traffic environment in practice, we propose a set of sound operational strategies to excellently control traffic flow on rail network under various conditions. Several simulation experiments with different parameter combinations are conducted to verify the effectiveness of the control simulation method. The experimental results are similar to realistic environment and some characteristics of rail traffic flow are also investigated, especially the impact of stochastic disturbances and the minimal headway on the rail traffic flow on large-scale rail network, which can better assist dispatchers in analysis and decision-making. Meanwhile, experimental results also demonstrate that the proposed control simulation method can be in real-time control of traffic flow for high-speed trains not only on the simple rail line, but also on the complicated large-scale network such as China’s high-speed rail network and serve as a tool of simulating the traffic flow on large-scale rail network to study the characteristics of rail traffic flow.

scholarly journals An Underwater Time Reversal Communication Method Using Symbol-Based Doppler Compensation with a Single Sound Pressure Sensor

Sensors ◽  
2018 ◽  
Vol 18 (10) ◽  
pp. 3279
Author(s):  
Anbang Zhao ◽  
Caigao Zeng ◽  
Juan Hui ◽  
Lin Ma ◽  
Xuejie Bi
Keyword(s):  
Time Reversal ◽  
Multipath Propagation ◽  
Single Element ◽  
Communication Performance ◽  
Songhua River ◽  
Communication Method ◽  
Doppler Effects ◽  
Communication Experiment ◽  
Time Reversal Mirror ◽  
Doppler Compensation

Due to the significant multipath and Doppler effects in the underwater acoustic (UWA) channel, the quality of the received signal is degraded, which seriously affects the performance of UWA communication. The paper proposes a time reversal UWA communication method combined with a symbol-based Doppler compensation (SBDC) technique to solve those problems. A single element time reversal mirror (TRM) is used to realize channel equalization and mitigate the inter-symbol interference (ISI) resulting from multipath propagation. The SBDC technique is subsequently used to compensate Doppler effects in the received signal, thereby reducing the bit error rate (BER) and improving the communication performance. In order to verify the performance of the proposed communication method, some simulations with real sounding channels were performed. Moreover, a field UWA communication experiment was conducted in the Songhua River (Harbin, China). The UWA communication experiment achieves nearly error-free performance with a communication rate of 100 bit/s in the bandwidth of 2 kHz. The results of the experiment demonstrate the feasibility and robustness of the proposed UWA communication method.

An Interface Design of Communication between PC104 and DSP Based on Dual-Port RAM

2011 ◽  
Vol 141 ◽  
pp. 198-202
Author(s):  
Bo Li ◽  
Qing Jian Liu ◽  
Zhi Feng Qiao ◽  
Jing Chuan Dong ◽  
Qing Liu
Keyword(s):  
Motion Control ◽  
Interface Design ◽  
High Speed ◽  
Storage Unit ◽  
Control Card ◽  
Motion Control Card ◽  
Communication Method ◽  
Industrial Pc

This paper focus on a motion control card based on DSP, designed an interface communication between DSP and industrial PC. After a contrast about several methods of communication, this interface take the Dual-port RAM as the final way. This communication method regard the DRAM as the sharing storage unit, use the semaphores of the DRAM chip to prevent visiting the same address at same time on boths port and achieve the high speed communication between DSP and PC104.

scholarly journals Automatic Vehicle Over speed Controlling System using Microcontroller Unit and ARCAD

2016 ◽  
Vol 5 (04) ◽  
pp. 01-05
Author(s):  
Prof. Madhuri Zambre
Keyword(s):  
Embedded System ◽  
High Speed ◽  
Rf Receiver ◽  
The Public ◽  
Controlling System ◽  
Small Delay ◽  
Communication Method ◽  
Traffic Policemen ◽  
Microcontroller Unit ◽  
High Speed Vehicle

The main purpose of this paper is to develop a system that avoid accidents because of vehicles with high speed. Also, authorizes the pedestrians and public to cross the highway road with no risk from vehicles which are moving with high speed. Generally, drivers of the vehicles with high speed drives in an uncontrollable manner even in speed limited areas without taking into consideration about the public. Even traffic policemen could not able to control them and attain good response from the high speed vehicle drivers. Also, we cannot monitor them to limit their speed at all times in those areas. So, here we develop a system which controls the speed of the vehicles in those locations without involving the drivers. Here, we employ RF communication method in controlling the speed of the vehicles. Finally, we connect RF receiver to the vehicle and locations are connected with the transmitter. Also, the transmitters are coded to send the transmitted signals continuously with a small delay between the adjacent signals. So, if a high speed vehicle is entering the location then their receivers will automatically senses the received code. Thereafter, the speed of the vehicle is limited dynamically by employing an embedded system inside them.

Observer-based nonlinear precise control of pneumatic servo systems

2018 ◽  
Vol 233 (2) ◽  
pp. 165-176 ◽  
Author(s):  
Sepehr Ramezani ◽  
Keivan Baghestan
Keyword(s):  
Sliding Mode ◽  
Nonlinear Modeling ◽  
High Gain ◽  
Good Choice ◽  
Servo Systems ◽  
Precise Position ◽  
Precise Control ◽  
Automation Systems ◽  
Wide Range ◽  
The Cost

Pneumatic systems are used in a wide range of industrial robotic and automation systems due to their interesting properties. However, air compressibility, friction, and the other nonlinear characteristics of a servo pneumatic system are difficulties, which contribute to use modern controllers. Conventional linear controllers face steady-state error and uncertainty. Nonlinear modeling with model-based control is a good choice to deal with this problem. In this paper, behavior equation of flow and pressure, friction, and other nonlinear factors are studied. Afterward to reach precise position tracking and low steady error, sliding mode control is proposed. In this way, measurement of pressures and other states of system is required. To reduce the cost of using pressure sensor, observation of pressure with nonlinear high gain observer is suggested. It was seen that the new proposed approach solved the observability problem of servo pneumatic systems. Pressure signal of each sides of cylinder are observed simultaneously by measurement of piston position. Finally, stability of designed controller is studied in the presence of observed states. Experimental results validate the advantage of using designed controller-observer instead of conventional proportional–integral–derivative controller with different input signals in the presence of high friction actuator.

Prospects for the Application of the Global High-speed, Low Latency Broadband Satellite Internet in the Field of Road Transport

2021 ◽  
pp. 254-264
Author(s):  
Anatoliy Soltus ◽  
◽  
Maksym Rud ◽  
Keyword(s):  
Antenna Arrays ◽  
Communication Systems ◽  
High Speed ◽  
Electromagnetic Compatibility ◽  
Emerging Market ◽  
Satellite Communications ◽  
Road Transport ◽  
Unmanned Vehicles ◽  
Low Latency ◽  
Current State

The article examines the problems of navigation and communication with the use of satellite technologies in road transport in the context of the growth of globalization processes in the world economy and the transformations of freight transport technologies caused by a large-scale transition to transport with zero emissions and the development of unmanned vehicles. The paper discusses the principles of building a global high-speed broadband satellite Internet with low latency. Potential capabilities of technologies such as digital antenna arrays and laser communication channels used in such systems are analyzed. Also considered are the existing and potential problems, both technical with electromagnetic compatibility with existing satellite communication systems and between systems under construction or planning, and legal caused by changes in the principles of information transfer at the interstate level. The main players in the emerging market of high-speed satellite communications are considered and the parameters of the systems declared by them are described. The comparison of the current state of building satellite constellations of individual projects is carried out and the ability to implement the announced plans by individual companies is analyzed. The disadvantages that create obstacles for the introduction of high-speed satellite communications in road transport at the moment and the directions of their overcoming are highlighted. Considering the potential of satellite Internet systems, the current state of construction, as well as existing technical and legal restrictions, the introduction of reliable satellite communications will significantly speed up the transition to autonomous unmanned vehicles. In this regard, the most successful opportunities for the new communication technology will be able to realize the transport companies, which will simultaneously update the fleet of vehicles towards zero emissions and with unmanned technologies.

Fifty years of Electronic Hardware Implementations of First and Higher Order Neural Networks

2010 ◽  
pp. 269-285 ◽  
Author(s):  
David R. Selviah ◽  
Janti Shawash
Keyword(s):  
Neural Networks ◽  
Real Time ◽  
High Speed ◽  
Higher Order ◽  
Low Latency ◽  
Real Time Control ◽  
Practical Applications ◽  
Field Programmable ◽  
On Chip ◽  
Electronic Hardware

This chapter celebrates 50 years of first and higher order neural network (HONN) implementations in terms of the physical layout and structure of electronic hardware, which offers high speed, low latency, compact, low cost, low power, mass produced systems. Low latency is essential for practical applications in real time control for which software implementations running on CPUs are too slow. The literature review chapter traces the chronological development of electronic neural networks (ENN) discussing selected papers in detail from analog electronic hardware, through probabilistic RAM, generalizing RAM, custom silicon Very Large Scale Integrated (VLSI) circuit, Neuromorphic chips, pulse stream interconnected neurons to Application Specific Integrated circuits (ASICs) and Zero Instruction Set Chips (ZISCs). Reconfigurable Field Programmable Gate Arrays (FPGAs) are given particular attention as the most recent generation incorporate Digital Signal Processing (DSP) units to provide full System on Chip (SoC) capability offering the possibility of real-time, on-line and on-chip learning.

Detection and Mitigation of Electrostatic Pull-in Instability in MEMS Parallel Plate Actuators

2013 ◽  
Vol 2013 (DPC) ◽  
pp. 000495-000514
Author(s):  
Colin Stevens ◽  
Robert Dean
Keyword(s):  
Range Of Motion ◽  
Parallel Plate ◽  
High Speed ◽  
Vibration Isolation ◽  
Voltage Source ◽  
Inrush Current ◽  
Stable Range ◽  
Precise Control ◽  
Simulink Model ◽  
Operational Range

Electrostatic MEMS actuators are used in a wide variety of applications including micro-machined gyroscopes, high speed mechanical switches, variable capacitors, and vibration isolation devices. MEMS parallel plate actuators (PPAs) are simple to realize, yet complex nonlinear variable capacitors. If a DC voltage is applied in attempt to move the proof mass greater than 1/3 of the electrode rest gap distance, the device becomes unstable and the electrodes snap into contact. Most research into this pull-in phenomena is devoted to extending the operational range of motion past the 1/3 instability point. This usually involves the addition of complex external electronics. Many applications, however, only require that the actuator remain out of the pull-in region, and do not require an extended stable range of motion. If detection of the pull-in event is all that is required, then simpler solutions can be realized, minimizing the requirements on the driving signal. Once pull-in is reached, the velocity of the movable plate increases rapidly until the plates make contact. The decreasing distance causes a proportional increase in capacitance. To maintain a constant voltage across the plates, an inrush of current must flow into the actuator in response to the increased capacitance. This paper presents a method for detecting the inrush current using a transimpedance amplifier circuit to convert the current to a measurable voltage. Once pull-in is detected, the PPA is electrically shutdown to prevent damage to the actuator or the voltage source, thus mitigating pull-in. A simulation of the expected results was performed using a Simulink model for the actuator structure predicting the expected range of inrush current. This result was then verified using a silicon micro-machined PPA connected to the detection/mitigation circuit on a PCB. The experimental results follow closely with the simulation allowing precise control in mitigating the pull-in event.

Sign in / Sign up

Export Citation Format

Share Document