Conception of the Integration of the Virtual Robot Model with the Control System

2014 ◽  
Vol 1036 ◽  
pp. 732-736 ◽  
Author(s):  
Krzysztof Herbuś ◽  
Piotr Ociepka ◽  
Aleksander Gwiazda
Keyword(s):  
Control System ◽  
Robot Control ◽  
Control Panel ◽  
Virtual Model ◽  
Projection System ◽  
Hardware Interface ◽  
High Level ◽  
Control Application ◽  
Stereoscopic Projection

The paper presents the conception of integration of a robot virtual model with its virtual control system. The system of connections between the virtual world and the control system of a virtual model, proposed in the work, should let for developing the technical approach allowing teaching the manual programming of robots. In the paper attempted to define particular subsystems included in the proposed system for teaching programming of robots. In the work it have been distinguished problems that should be solved in order to properly create the proposed virtual system, and namely problems related to the: creation of a robotic system model in CAD systems, including modelling of a robot and its technological equipment; modelling of functioning of a real system in the applications of the VR (Virtual Reality) class; creation of a robot control system basing on a high level programming language (control application); elaboration of a virtual robot control panel (hardware interface); determination of the appropriate stereoscopic projection system and creation of the interfaces between the particular subsystems.

Emergency Braking Trajectory Control for Manipulator in the Case of Driver Failure

2020 ◽  
Vol 21 (1) ◽  
pp. 28-33
Author(s):  
V. A. Kartashev ◽  
V. V. Kartashev
Keyword(s):  
Control System ◽  
Robot Control ◽  
Emergency Situation ◽  
Failure Detection ◽  
Control Panel ◽  
Specific Sequence ◽  
Friction Forces ◽  
Emergency Braking ◽  
Mathematical Formulas ◽  
Robot Control System

In emergency situation robot control system stops the manipulator by shutdowning drivers and activating brakes. This mode is used in all cases of equipment failure detection or while alarm bottom is pressed on control panel. Emergency braking is uncontrolled motion. As result manipulator movement deviates from program trajectory as the relations between velocities in joints differ significantly. This creates danger of collisions with objects in robot work space. The paper describes device that can be connected to control system. Connection needs insignificant changing in hardware architecture of robot control system. Device consists of controller and individual electronic schemes that are able to activate brakes of each degree of freedom regardless from other one. This feature allows to design braking trajectory by activating brakes in specific sequence and calculated delays. Mathematical solution for deviation minimization problem of braking trajectory from program one is presented. The solution is reduced to mathematical formulas which depend of the temporary velocities and values of braking decelerations in manipulator joints. The considered way of control differs from similar one described earlier by that in emergency situation drivers turn off immediately. On the first stage manipulator brakes by friction forces in gear boxes. Theoretical evaluations show that in all cases this reduces deviations from program trajectory. Additionally the new way can be used even if fault takes place at least one of drivers.

Design and Simulation of Smart Control System for Internet Traffic Distribution on Servers by Using Fuzzy Logic System

2018 ◽  
Vol 2 (1) ◽  
Author(s):  
Raid Daoud ◽  
Yaareb Al-Khashab
Keyword(s):  
Fuzzy Logic ◽  
Control System ◽  
Input Parameter ◽  
Traffic Density ◽  
The Internet ◽  
Linguistic Variables ◽  
Internet Service ◽  
Traffic Distribution ◽  
Smart Control ◽  
High Level

The internet service is provided by a given number of servers located in the main node of internet service provider (ISP). In some cases; the overload problem was occurred because a demand on a given website goes to very high level. In this paper, a fuzzy logic control (FLC) has proposed to distribute the load into the internet servers by a smart and flexible manner. Three effected parameters are tacked into account as input for FLC: link capacity which has three linguistic variables with Gaussian membership function (MF): (small, medium and big), traffic density with linguistic variables (low, normal and high) and channel latency with linguistic variables (empty, half and full); with one output which is the share server status (single, simple and share). The proposed work has been simulated by using MATLAB 2016a, by building a structure in the Fuzzy toolbox. The results were fixed by two manners: the graphical curves and the numerical tables, the surface response was smoothly changed and translates the well-fixed control system. The numerical results of the control system satisfy the idea of the smart rout for the incoming traffics from the users to internet servers. So, the response of the proposed system for the share of server ratio is 0.122, when the input parameter in the smallest levels; and the ratio is 0.879 when the input parameters are in highest level. The smart work and flexible use for the FLC is the main success solution for most of today systems control.

Determination of YAV-8B Reaction Control System bleed flow usage

1992 ◽  
Author(s):  
PAUL BORCHERS ◽  
ERNESTO MORALEZ, III ◽  
VERNON MERRICK ◽  
MICHAEL STORTZ ◽  
DAVID EAMES
Keyword(s):  
Control System ◽  
Reaction Control System

Immediate implantation in a patient with chronic generalized parodontitis and apical granuloma

2019 ◽  
Vol 24 (2) ◽  
pp. 145-149
Author(s):  
A. I. Musienko ◽  
K. I. Nesterova
Keyword(s):  
Tooth Extraction ◽  
Tooth Root ◽  
Duration Of Treatment ◽  
Promising Direction ◽  
Aesthetic Result ◽  
Bone Atrophy ◽  
Alveolar Tissue ◽  
High Level ◽  
Immediate Implantation

Relevance. Rehabilitation of patients with moderate to severe generalized periodontitis is a leading problem in periodontology. It was the determination of the prospects for immediate implantation in patients with chronic periodontitis, combined with the pathology of the tooth root and maxillary sinus.Materials and methods. A group of 94 people with periodontitis and chronic odontogenic rhinosinus was observed who underwent sinus surgical treatment, tooth extraction and one-stage implantation with FRP growth factor according to the author's technology.Results. The method showed high efciency on the basis of assessing the clinical, aesthetic result and restoration of bone density after surgery.Conclusions. The developed technology is a promising direction, it allows to combine a high level of sanation of alveolar tissue with the advantages of immediate implantation, prevents bone atrophy, helps reduce the duration of treatment and the number of surgical and orthopedic interventions.

Methodical approaches to managing economic safety of tourism enterprises

2020 ◽  
pp. 160-164
Author(s):  
Leonid Tsubov ◽  
Oresta Shcherban
Keyword(s):  
Safety Management ◽  
Integrated Approach ◽  
Small Enterprise ◽  
Complex Nature ◽  
Efficient Management ◽  
Tourism Enterprises ◽  
High Level ◽  
Functional Components ◽  
Stimulation Control

The set of scientific-methodological tools to secure the mechanism of economic safety management of tourism entrepreneurship is examined as an aggregate of methods, tools, and conceptual activities directed at maintaining the high level of economic safety of tourism entrepreneurship. The features of managing the tourism enterprise and economic safety are analyzed. The basic valuation principles of the reliability and efficiency of the economic safety of the tourism enterprise are determined. The basic tasks of ensuring the economic safety of a small enterprise are outlined. The need to use the integrated approach that secures more opportunities to avoid threats and limits the danger of their emergence is emphasized. The most important principles for securing the economic safety of the tourism enterprise on the microeconomic level are described. Possible practical methods of risk management for the implementation of adopted decisions are proposed. The paper proves the fact that the complex nature of the management of the economic safety of the tourism enterprise and securing the sufficiently efficient management system of detecting and eliminating the threats are provided by the establishment of the management of the economic safety system of the tourism enterprise and its functional components. Research of the methodical approaches to the management of the tourism enterprises’ economic safety allows building and describing the functional structure of the mechanism of management of the tourist enterprise’s economic safety (it is formalized and described by 5 functions: determination of aims; planning; organization and adjusting; motivation and stimulation; control and monitoring).

scholarly journals Study of Well Waters from High-Level Natural Radiation Areas in Northern Vietnam

2021 ◽  
Vol 18 (2) ◽  
pp. 469
Author(s):  
Van-Hao Duong ◽  
Thanh-Duong Nguyen ◽  
Miklos Hegedus ◽  
Erika Kocsis ◽  
Tibor Kovacs
Keyword(s):  
Natural Radionuclide ◽  
World Health ◽  
Natural Radiation ◽  
Lifetime Cancer Risk ◽  
Northern Vietnam ◽  
Health Organization ◽  
High Level ◽  
Radiological Hazard Indices ◽  
Well Waters

The determination of natural radionuclide concentrations plays an important role for assuring public health and in the estimation of the radiological hazards. This is especially true for high level radiation areas. In this study, 226Ra, 228Ra and 238U concentrations were measured in well waters surrounding eight of the high-level natural radiation areas in northern Vietnam. The 226Ra, 228Ra and 238U activity concentrations vary from <1.2 × 10−3–2.7 (0.46), <2.6 × 10−3–0.43 (0.07) and <38 × 10−3–5.32 Bq/L (0.50 of median), respectively. 226Ra and 238U isotopes in most areas are in equilibrium, except for the DT-Thai Nguyen area. The calculated radiological hazard indices are generally higher than WHO (World Health Organization) recommendations. Average annual effective dose and excess lifetime cancer risk values due to drinking well water range from to 130 to 540 μSv/year and 7.4 × 10−6 to 3.1 × 10−5, respectively.

scholarly journals Control system of 4-DOF palletizing robot based on improved R control multi-objective trajectory planning

2021 ◽  
Vol 13 (4) ◽  
pp. 168781402110027
Author(s):  
Jianqiang Wang ◽  
Yanmin Zhang ◽  
Xintong Liu
Keyword(s):  
Control System ◽  
Trajectory Planning ◽  
Robot Control ◽  
Machining Process ◽  
Planning System ◽  
Positioning Accuracy ◽  
Multi Objective ◽  
Planning Algorithm ◽  
Function Testing ◽  
Robot Control System

To realize efficient palletizing robot trajectory planning and ensure ultimate robot control system universality and extensibility, the B-spline trajectory planning algorithm is used to establish a palletizing robot control system and the system is tested and analyzed. Simultaneously, to improve trajectory planning speeds, R control trajectory planning is used. Through improved algorithm design, a trajectory interpolation algorithm is established. The robot control system is based on R-dominated multi-objective trajectory planning. System stack function testing and system accuracy testing are conducted in a production environment. During palletizing function testing, the system’s single-step code packet time is stable at approximately 5.8 s and the average evolutionary algebra for each layer ranges between 32.49 and 45.66, which can save trajectory planning time. During system accuracy testing, the palletizing robot system’s repeated positioning accuracy is tested. The repeated positioning accuracy error is currently 10−1 mm and is mainly caused by friction and the machining process. By studying the control system of a four-degrees-of-freedom (4-DOF) palletizing robot based on the trajectory planning algorithm, the design predictions and effects are realized, thus providing a reference for more efficient future palletizing robot design. Although the working process still has some shortcomings, the research has major practical significance.

Colorimetric Determination of Aklomide (2-Chloro-4-Nitrobenzamide) in Poultry Feed

1969 ◽  
Vol 52 (3) ◽  
pp. 438-441
Author(s):  
Glenn M George ◽  
A C Daftsios ◽  
Joseph L Morrison
Keyword(s):  
Nitro Group ◽  
Poultry Feed ◽  
Colorimetric Determination ◽  
Average Recovery ◽  
Low Level ◽  
Color Development ◽  
Titanium Trichloride ◽  
High Level

Abstract The coccidiostat aklomide is extracted from feed with methanol and assayed colorimetrically by reduction of the nitro group to anamine with titanium trichloride and subsequent color development with t he Bratton-Marshall reaction. Thirteen laboratories studied the method collaboratively on two levels of medicated feed. Overall average recovery was 106.5% of the oretical for the low level and 104.5% of the oretical for the high level. The method is recommended for adoption as official first action

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