Design and Implementation of a Large-Scale Gravity Compensation System for Lunar Rover

2013 ◽  
Vol 385-386 ◽  
pp. 759-767
Author(s):  
Zhen Liu ◽  
Hai Bo Gao ◽  
Zong Quan Deng
Keyword(s):  
System Design ◽  
Large Scale ◽  
Control Strategies ◽  
Servo System ◽  
Compensation System ◽  
Gravity Compensation ◽  
Lunar Rover ◽  
Design And Implementation ◽  
Position Servo ◽  
And Control

This article presents knowledge on the design of a large-scale Gravity Compensation System (GCS) for lunar rover. The system comprises a large-scale planar position servo system that covers an area of 900 square meters and a force servo system that generates compensation force. The major problems in system design are clearly identified so that the mechanisms and control strategies of the GCS could be better understood. Experiment results are also included to extend the knowledge on this system.

Formal Modeling and Analysis of Collaborative Humanoid Robotics

2019 ◽  
pp. 1086-1108
Author(s):  
Yujian Fu ◽  
Zhijiang Dong ◽  
Xudong He
Keyword(s):  
Petri Net ◽  
Control Strategies ◽  
Formal Modeling ◽  
Humanoid Robotics ◽  
Modeling And Analysis ◽  
Agent Based ◽  
Design And Implementation ◽  
Simulation Results ◽  
And Control ◽  
Successful Collaboration

A humanoid robot is inherently complex due to the heterogeneity of accessory devices and to the interactions of various interfaces, which will be exponentially increased in multiple robotics collaboration. Therefore, the design and implementation of multiple humanoid robotics (MHRs) remains a very challenging issue. It is known that formal methods provide a rigorous analysis of the complexity in both design of control and implementation of systems. This article presents an agent-based framework of formal modeling on the design of communication and control strategies of a team of autonomous robotics, to attain the specified tasks in a coordinated manner. To ensure a successful collaboration of multiple robotics, this formal agent-based framework captures behaviors in Petri Net models and specifies collaboration operations in four defined operations. To validate the framework, a non-trivial soccer bot set was implemented and simulation results were discussed.

Study on the system design and control method of a semi-active heave compensation system

2017 ◽  
Vol 13 (1) ◽  
pp. 43-55 ◽  
Author(s):  
Mingjie Li ◽  
Pan Gao ◽  
Junliang Zhang ◽  
Jijun Gu ◽  
Yingjin Zhang
Keyword(s):  
System Design ◽  
Control Method ◽  
Compensation System ◽  
And Control

New applications and control strategies for large-scale CPV plants

2013 ◽  
Author(s):  
P. Benoit ◽  
G. Rohbogner ◽  
S. Fey ◽  
D. George ◽  
J. Wüllner ◽  
...  
Keyword(s):  
Large Scale ◽  
Control Strategies ◽  
New Applications ◽  
And Control

Application of the Bridge Type Circuit on the Large-Scale Machine Tool Gravity Compensation System

2014 ◽  
Vol 800-801 ◽  
pp. 731-734
Author(s):  
You Jie Cai ◽  
Xue Feng Wang ◽  
Shi Gang Wang
Keyword(s):  
Machine Tool ◽  
Large Scale ◽  
Compensation System ◽  
Machining Accuracy ◽  
Gravity Compensation ◽  
Spindle Rotation ◽  
Bridge Type ◽  
Deformation Compensation ◽  
Higher Sensitivity

Through the analysis of the spindle ram deformation compensation during the process of large-scale machining, design a bridge type circuit which can improve the accuracy of processing after the ram’s moving out and meet the requirements of the compensation. The bridge type circuit has higher sensitivity for force and torque change, which improves the accuracy of machine tool. The mechanism greatly reduces the spindle rotation accuracy error caused by the gravity deviation, effectively improves the machining accuracy of the workpiece and guarantees the product accuracy of machine tool.

Formal Modeling and Analysis of Collaborative Humanoid Robotics

2018 ◽  
Vol 6 (1) ◽  
pp. 34-54
Author(s):  
Yujian Fu ◽  
Zhijiang Dong ◽  
Xudong He
Keyword(s):  
Humanoid Robot ◽  
Control Strategies ◽  
Formal Modeling ◽  
Rigorous Analysis ◽  
Humanoid Robotics ◽  
Modeling And Analysis ◽  
Agent Based ◽  
Design And Implementation ◽  
And Control ◽  
Successful Collaboration

A humanoid robot is inherently complex due to the heterogeneity of accessory devices and to the interactions of various interfaces, which will be exponentially increased in multiple robotics collaboration. Therefore, the design and implementation of multiple humanoid robotics (MHRs) remains a very challenging issue. It is known that formal methods provide a rigorous analysis of the complexity in both design of control and implementation of systems. This article presents an agent-based framework of formal modeling on the design of communication and control strategies of a team of autonomous robotics, to attain the specified tasks in a coordinated manner. To ensure a successful collaboration of multiple robotics, this formal agent-based framework captures behaviors in Petri Net models and specifies collaboration operations in four defined operations. To validate the framework, a non-trivial soccer bot set was implemented and simulation results were discussed.

Gas Turbine Compressor System Design Using Dynamic Process Simulation

2007 ◽  
Author(s):  
Norman A. Samurin ◽  
George C. Talabisco
Keyword(s):  
System Design ◽  
Control Strategies ◽  
Design Activity ◽  
Plant Design ◽  
Start Up ◽  
Additional Control ◽  
Almost All ◽  
Dynamic Process Simulation ◽  
Gas Turbine Compressor ◽  
And Control

Almost all petrochemical processes are modeled as steady state to establish the required sizes of pipe, vessels, compressors, pumps, and valves. A dynamic simulation study of the process compressor system design can now be done as part of the initial plant design activity. The system piping design and proper placement of the anti-surge valves (ASV) along with preliminary valve sizing can be evaluated. Additional control strategies may be evaluated for emergency shut down (ESD). This will confirm the system design to safely shutdown a compressor without surge. Many of the issues that may be uncovered during study execution can save time and expense before the initial commissioning of the process. For a plant start up, the driver capability, compressor loading, positions of valves, and control philosophy may be tested before the components are committed to hardware.

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