Localization and Control Architecture for Collaborating Smart Projectiles in a Contested Environment

2022 ◽  
Author(s):  
Bethany L. Allik ◽  
Cory Miller ◽  
James M. Maley ◽  
Hamaoui Moshe ◽  
Michael Don
Keyword(s):  
Control Architecture ◽  
And Control

A Plug-and-Play Monitoring and Control Architecture for Disturbance Compensation in Rolling Mills

2018 ◽  
Vol 23 (1) ◽  
pp. 200-210 ◽  
Author(s):  
Hao Luo ◽  
Xu Yang ◽  
Minjia Krueger ◽  
Steven X. Ding ◽  
Kaixiang Peng
Keyword(s):  
Control Architecture ◽  
Disturbance Compensation ◽  
Monitoring And Control ◽  
Plug And Play ◽  
Rolling Mills ◽  
And Control

HLPR Chair: A Novel Indoor Mobility-Assist and Lift System

2007 ◽  
Author(s):  
Roger Bostelman ◽  
James Albus ◽  
Tommy Chang ◽  
Tsai Hong ◽  
Sunil K. Agrawal ◽  
...  
Keyword(s):  
Trajectory Planning ◽  
Control Architecture ◽  
Back Injury ◽  
Patient Mobility ◽  
Wheelchair Users ◽  
Planning And Control ◽  
Autonomous Planning ◽  
Autonomous Mobility ◽  
Mobility Device ◽  
And Control

This paper describes a novel Home Lift, Position, and Rehabilitation (HLPR) Chair, designed at National Institute of Standards and Technology (NIST), to provide independent patient mobility for indoor tasks, such as moving to and placing a person on a toilet or bed, and lift assistance for tasks, such as accessing kitchen or other tall shelves. These functionalities are currently out of reach of most wheelchair users. One of the design motivations of the HLPR Chair is to reduce back injury, typically, an important issue in the care of this group. The HLPR Chair is currently being extended to be an autonomous mobility device to assist cognition by route and trajectory planning. This paper describes the design of HLPR Chair, its control architecture, and algorithms for autonomous planning and control using its unique kinematics.

Integration of a Signal Processing and Control ASIC With the JPL Micro-Gyroscope

2002 ◽  
Author(s):  
Yen-Cheng Chen ◽  
Robert M’Closkey ◽  
Tuan Tran ◽  
Brent Blaes
Keyword(s):  
Signal Processing ◽  
Experimental Results ◽  
Control Architecture ◽  
Flexible Control ◽  
Rate Sensor ◽  
And Control ◽  
Flexible Control Architecture

This paper describes the integration of a vibratory rate sensor—the JPL microgyro—with a special purpose control ASIC developed at UCLA. The digital ASIC has a flexible control architecture that can be customized for individual sensors. We describe this process for one sensor prototype and include experimental results demonstrating the efficacy of the ASIC.

Robot arm and control architecture integration on a UGV for precision agriculture

2019 ◽  
pp. 2339-2348 ◽  
Author(s):  
Giuseppe Quaglia ◽  
Carmen Visconte ◽  
Leonardo Sabatino Scimmi ◽  
Matteo Melchiorre ◽  
Paride Cavallone ◽  
...  
Keyword(s):  
Precision Agriculture ◽  
Control Architecture ◽  
Robot Arm ◽  
And Control

Inverse Kinematic and Control Architecture of a Slave Manipulator for MR-Guided Brain Biopsy

2008 ◽  
Author(s):  
C. Raoufi ◽  
A. A. Goldenberg ◽  
W. Kucharczyk ◽  
H. Hadian
Keyword(s):  
Modular Design ◽  
Brain Biopsy ◽  
Inverse Kinematic ◽  
Robotic System ◽  
Control Architecture ◽  
Neurosurgical Procedures ◽  
Biopsy Needle ◽  
Mri Guided ◽  
Position And Orientation ◽  
And Control

In this paper, the inverse kinematic and control paradigm of a novel tele-robotic system for MRI-guided interventions for closed-bore MRI-guided brain biopsy is presented. Other candidate neurosurgical procedures enabled by this system would include thermal ablation, radiofrequency ablation, deep brain stimulators, and targeted drug delivery. The control architecture is also reported. The design paradigm is fundamentally based on a modular design configuration of the slave manipulator that is performing tasks inside MR scanner. The tele-robotic system is a master-slave system. The master manipulator consists of three units including: (i) the navigation module; (ii) the biopsy module; and (iii) the surgical arm. Navigation and biopsy modules were designed to undertake the alignment and advancement of the surgical needle respectively. The biopsy needle is held and advanced by the biopsy module. The biopsy module is attached to the navigation module. All three units are held by a surgical arm. The main challenge in the control of the biopsy needle using the proposed navigation module is to adjust a surgical tool from its initial position and orientation to a final position and orientation. In a typical brain biopsy operation, the desired task is to align the biopsy needle with a target knowing the positions of both the target in the patient’s skull and the entry point on the surface of the skull. In this paper, the mechanical design, control paradigms, and inverse kinematics model of the robot are reported.

Mobile robot society for distributed operations in closed aquatic environment

Robotica ◽  
2000 ◽  
Vol 18 (3) ◽  
pp. 235-250 ◽  
Author(s):  
M. Vainio ◽  
P. Appelqvist ◽  
A. Halme
Keyword(s):  
Control Architecture ◽  
Common Goal ◽  
Underwater Robots ◽  
Test Environment ◽  
Multirobot System ◽  
Cooperative Society ◽  
Living Biomass ◽  
Algae Growth ◽  
Robot Society ◽  
And Control

In this paper a multirobot system consisting of small size ball-shaped mobile underwater robots is introduced. Robots form a cooperative society operating together for a common goal. This is made possible by inter-member communication and control architecture allowing cooperation. The test environment is a closed aquatic process containing tanks, pipes, and a jet pump. The task considered is cleaning of biologically contaminated spots in the process. Detailed hardware structure of a robot-member as well as the control architecture are introduced. Behaviour of the cooperative system is demonstrated in a test environment where contamination caused by biological algae growth is emulated by infrared panels behaving like a living biomass.

Sign in / Sign up

Export Citation Format

Share Document