8 research outputs found

    Application of local approximators for control of real mechatronic system

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    Cieľom práce je aplikácia lokálnych aproximátorov pre riadenie reálnych mechatronických sústav pomocou metódy dopredného riadenia predstavujúcej zaujímavú alternatívu k metódam využívajúcim globálne aproximátory. Po ukážkových príkladoch funkcie lokálnych aproximátorov bol navrhnutý algoritmus implementovaný pre riadenie dvoch sústav, elektronickej škrtiacej klapky a výukového modelu magnetickej levitácie, predstavujúcich vysoko nelineárne a nestabilné sústavy. Skúmali sme, či riadiaci algoritmus bude mať pozitívny vplyv na presnosť regulácie, ďalej bola skúmaná jeho schopnosť prispôsobiť sa zmene parametrov sústavy a tiež prípadná možnosť jeho implementácie pre mikrokontrolér znížením vzorkovacej frekvencie. Výsledky ukázali, že riadenie založené na lokálnych modeloch zlepšilo riadenie v porovnaní s jednoduchým PID regulátorom a že má schopnosť adaptability. Veľmi výhodné sa zdá byť jeho použitie pre zariadenia umožnujúce vzorkovaciu frekvenciu do 1 kHz.The main aim of this thesis is application of local approximators for control of real mechatronic systems by means of feed-forward control which represents a promising alternative to methods utilizing global approximators. After instances of how local approximators work they were implemented for control of two plants: electronic throttle and educational model of magnetic levitation, which both represent highly non-linear and unstable systems. It was observed whether the designed algorithm would improve the regulation accuracy, further its adaptability to to the plant's parameter change was tested and nally the convenience of its implementation for MCU was observed by lowering sample frequency. The results shows that local-models based control have improved regulation in comparison with PID used alone and that it is adaptable. Moreover, its utilization by MCUs providing sample frequency up to 1 kHz seems to be very advantageous.

    Design and testing of a Stewart Platform Augmented Manipulator for space applications

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    Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1990.Includes bibliographical references (p. 129-130).Sponsored by NASA. NAGW-21Terrence W. Fong.M.S

    Mobile Robots Navigation

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    Mobile robots navigation includes different interrelated activities: (i) perception, as obtaining and interpreting sensory information; (ii) exploration, as the strategy that guides the robot to select the next direction to go; (iii) mapping, involving the construction of a spatial representation by using the sensory information perceived; (iv) localization, as the strategy to estimate the robot position within the spatial map; (v) path planning, as the strategy to find a path towards a goal location being optimal or not; and (vi) path execution, where motor actions are determined and adapted to environmental changes. The book addresses those activities by integrating results from the research work of several authors all over the world. Research cases are documented in 32 chapters organized within 7 categories next described

    Intelligent instrumentation, control and monitoring of precision motion systems

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    Ph.DDOCTOR OF PHILOSOPH

    Experimental performance and acoustic investigation of modern, counterrotating blade concepts

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    The aerodynamic, acoustic, and aeromechanical performance of counterrotating blade concepts were evaluated both theoretically and experimentally. Analytical methods development and design are addressed. Utilizing the analytical methods which evolved during the conduct of this work, aerodynamic and aeroacoustic predictions were developed, which were compared to NASA and GE wind tunnel test results. The detailed mechanical design and fabrication of five different composite shell/titanium spar counterrotating blade set configurations are presented. Design philosophy, analyses methods, and material geometry are addressed, as well as the influence of aerodynamics, aeromechanics, and aeroacoustics on the design procedures. Blade fabrication and quality control procedures are detailed; bench testing procedures and results of blade integrity verification are presented; and instrumentation associated with the bench testing also is identified. Additional hardware to support specialized testing is described, as are operating blade instrumentation and the associated stress limits. The five counterrotating blade concepts were scaled to a tip diameter of 2 feet, so they could be incorporated into MPS (model propulsion simulators). Aerodynamic and aeroacoustic performance testing was conducted in the NASA Lewis 8 x 6 supersonic and 9 x 15 V/STOL (vertical or short takeoff and landing) wind tunnels and in the GE freejet anechoic test chamber (Cell 41) to generate an experimental data base for these counterrotating blade designs. Test facility and MPS vehicle matrices are provided, and test procedures are presented. Effects on performance of rotor-to-rotor spacing, angle-of-attack, pylon proximity, blade number, reduced-diameter aft blades, and mismatched rotor speeds are addressed. Counterrotating blade and specialized aeromechanical hub stability test results are also furnished

    NASA Tech Briefs, February 1999

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    Topics: Test and Measurement; Electronic Components and Circuits; Electronic Systems; Materials; Computer Software; Mechanics; Machinery/Automation; Physical Sciences; Computers and Peripherals
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