Motion control - A SMC approach

Motion control involves many diversified control problems of complex nonlinear systems. In this paper we will be addressing the SMC approach for multi-body mechanical systems control. The main feature of the SMC is constraint of the system motion into manifold in system state space. It will be shown that usage of the SMC methods is a natural way of addressing problems in motion control including constrained systems, redundant systems and functionally related systems to name some. The consistent application of the SMC methods leads to natural decomposition of system motion for redundant tasks and allows simple, straight forward dynamical decoupling of the multiple tasks

When the goal is to generate a series of activities: A self-organized simulated robot arm

Behavior is characterized by sequences of goal-oriented conducts, such as food uptake, socializing and resting. Classically, one would define for each task a corresponding satisfaction level, with the agent engaging, at a given time, in the activity having the lowest satisfaction level. Alternatively, one may consider that the agent follows the overarching objective to generate sequences of distinct activities. To achieve a balanced distribution of activities would then be the primary goal, and not to master a specific task. In this setting, the agent would show two types of behaviors, task-oriented, and task-searching phases, with the latter interseeding the former. We study the emergence of autonomous task switching for the case of a simulated robot arm. Grasping one of several moving objects corresponds in this setting to a specific activity. Overall, the arm should follow a given object temporarily and then move away, in order to search for a new target and reengage. We show that this behavior can be generated robustly when modeling the arm as an adaptive dynamical system. The dissipation function is in this approach time dependent. The arm is in a dissipative state when searching for a nearby object, dissipating energy on approach. Once close, the dissipation function starts to increase, with the eventual sign change implying that the arm will take up energy and wander off. The resulting explorative state ends when the dissipation function becomes again negative and the arm selects a new target. We believe that our approach may be generalized to generate self-organized sequences of activities in general.Comment: 10 pages, 7 figure

Space Structures: Issues in Dynamics and Control

A selective technical overview is presented on the vibration and control of large space structures, the analysis, design, and construction of which will require major technical contributions from the civil/structural, mechanical, and extended engineering communities. The immediacy of the U.S. space station makes the particular emphasis placed on large space structures and their control appropriate. The space station is but one part of the space program, and includes the lunar base, which the space station is to service. This paper attempts to summarize some of the key technical issues and hence provide a starting point for further involvement. The first half of this paper provides an introduction and overview of large space structures and their dynamics; the latter half discusses structural control, including control‐system design and nonlinearities. A crucial aspect of the large space structures problem is that dynamics and control must be considered simultaneously; the problems cannot be addressed individually and coupled as an afterthought

Computer-Aided Conceptual Design Through TRIZ-based Manipulation of Topological Optimizations

Organised by: Cranfield UniversityIn a recent project the authors proposed the adoption of Optimization Systems [1] as a bridging element between Computer-Aided Innovation (CAI) and PLM to identify geometrical contradictions [2], a particular case of the TRIZ physical contradiction [3]. A further development of the research has revealed that the solutions obtained from several topological optimizations can be considered as elementary customized modeling features for a specific design task. The topology overcoming the arising geometrical contradiction can be obtained through a manipulation of the density distributions constituting the conflicting pair. Already two strategies of density combination have been identified as capable to solve geometrical contradictions.Mori Seiki – The Machine Tool Compan

Research issues in implementing remote presence in teleoperator control

The concept of remote presence in telemanipulation is presented. A conceptual design of a prototype teleoperator system incorporating remote presence is described. The design is presented in functional terms, sensor, display, and control subsystem. An intermediate environment, in which the human operator is made to feel present, is explicated. The intermediate environment differs from the task environment due to the quantity and type of information presented to an operator and due to scaling factors protecting the operator from the hazards of the task environment. Potential benefits of remote presence systems, both for manipulation and for the study of human cognition and preception are discussed

Magnetically suspended flywheel system study

A program to study the application of a graphite/epoxy, magnetically suspended, pierced disk flywheel for the combined function of spacecraft attitude control and energy storage (ACES) is described. Past achievements of the program include design and analysis computer codes for the flywheel rotor, a magnetically suspended flywheel model, and graphite/epoxy rotor rings that were successfully prestressed via interference assembly. All hardware successfully demonstrated operation of the necessary subsystems which form a complete ACES design. Areas of future work include additional rotor design research, system definition and control strategies, prototype development, and design/construction of a UM/GSFC spin test facility. The results of applying design and analysis computer codes to a magnetically suspended interference assembled rotor show specific energy densities of 42 Wh/lb (92.4 Wh/kg) are obtained for a 1.6 kWh system