transactions in measurement and control
Transactions in measurement and control
... erosion, and internalscale build up. In spite of its high ini-tial cost, the total cost of owner-ship can still be favorable becauseof savings in installation and operat-ing and maintenance ... air speed in rac-ing cars and Air Force fighter jets. In industrial applications, pitot tubesare used to measure air flow in pipes,ducts, and stacks, and liquid flow in pipes, weirs, and open ... and liners areavailable in many materials and arewidely used in all the process indus-tries, including food, pharmaceutical,mining, and metals.Some liner materials (particularlyTeflon®) can...
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Modeling, Measurement and Control P18
... the selected generalized coordinates and anindependent set of the tendon and rod vectors forming l. All remaining tendon vectors may bewritten as a linear combination of l. This relation will ... (18.B.2)where (18.B.3)Solving (18.B.2) for x we obtainx = Q–1y (18.B.4)Substituting (18.B.1) and (18.B.3) into (18.B.2) and carrying out the matrix operations we obtain (18.B.5)Solving this system ... Class 2 includes rods thatare in contact at nodal points, with a ball joint, transmitting no torques. In Class 1 the rods do nottouch and a stable equilibrium must be achieved by pretension in the...
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Modeling, Measurement and Control P21
... and the corresponding joint. Different types of shafts, chains, belts, ball screws, and linkagestructures may be used. The questions of efficiency, backlash, and stiffness are posed again. Finally,the ... drives a robot joint, for instance, joint j , we relate the motor with the joint by usingindex j with all variables and constants in the dynamic model (21.3). This was done in Section20.3.1. ... elastic deformation (in nite stiffness), and inertia. In modeling robot dynamics this is a rather common assumption. In such a case, there is a linear relation between the input and the output:...
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Modeling, Measurement and Control P23
... tests, investigation of compliant control in uncertain and dynamic environments, examination of nonlinear effects in robot and environment dynamics, and solving control problems at higher control ... model and using the nominal position and force measurements, and a controller involving a PD regulator and robust control part. Thepurpose of the robust controller is to ensure that the control ... tasks are machining processes such asgrinding, deburring, polishing, and bending. Force is an inherent part of the process and plays adecisive role in task fulfillment (e.g., metal cutting or plastic...
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Modeling, Measurement and Control P24
... variable-gain controllers in many respects outperform constant-gain schemes. The most obvious advantage was the improvement in accuracy demonstrated in bothpositioning and trajectory tracking tasks. ... the number of actuated joints, are nominal control signal u0i, joint position error ,joint velocity error , and integral error . In cases where a highly precise tracking of fasttrajectory is ... sophisticated control rules for tuning the gains, Vukobratovi´c and Karan haveconsidered a simple decentralized scheme consisting of independent joint servo tuners operatingon the basis of observed joint...
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Modeling, Measurement and Control P26
... standpoint of both linear and nonlinear control theories. We explain the difference between controllability in the linear system theory and controllability of mobile robots, having in mind that a mobile ... the constraint Equation (26.2) involves both the generalizedcoordinates and its derivatives. In other words, the constraints may have their origins in the system’sgeometry and/ or kinematics.A ... desired (commanded) one. In this case, the above equation becomes (26.34)where uR and uL are left- and right-wheel control inputs. From (Equations 26.22 and 26.23) weobtain: (26.35) and (26.36)FIGURE...
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Tài liệu Modeling, Measurement and Control P31 doc
... Process Control 7.6 Direct Shape Feedback and Control 7.7 SummaryReferences 8 Assembly and Welding Processes and Their Monitoring and Control 8.1 Assembly Processes8.2 Monitoring and Control ... Machine Tool Dynamics and Vibrations 4.1 Introduction4.2 Chatter Vibrations in Cutting4.3 Analytical Prediction of Chatter Vibrations in MillingReferences 5 Machine Tool Monitoring and Control ... DorfThe Handbook of Formulas and Tables for Signal Processing, Alexander D. PoularikasThe Industrial Electronics Handbook, J. David IrwinThe Measurement, Instrumentation, and Sensors Handbook,...
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Tài liệu Modeling, Measurement and Control P28 docx
... which are distinguished by framed structuressupporting linear axes. Gantry robots are widely used for handling tasks such as palletizing,warehousing, order picking, and special machining tasks ... the break-even for an investment of some 700,000 DM in equipment cost and 200,000 DM in engineering costs. Since the workcell was installed in 1993, production volumehas, increased to more than ... therobot brings the frame into a mechanical centering device for fine positioning and for eliminatingtolerances in the pallets. It is possible to achieve exact positioning of the frame in the robot...
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Tài liệu Modeling, Measurement and Control P29 doc
... data processing elements and their integration in a systemarchitecture• Man–machine interactions and their task level interfacesPerceptive capabilities of the system result in the mapping of the ... disconnected instantlyby the release of springs in the pneumatic cylinders. A graph representing the event structure and the step-wise increase in docking accuracy is depicted in Figure 28.31. ... (reactive motion control) The formalism for describing, controlling, and observing object motion in a dynamic environmentconcentrates on defining all relevant geometric, kinematic, and dynamic properties:•...
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Tài liệu Modeling, Measurement and Control P30 pptx
... refueling station, the robot moves into the initial position. It emerges from theopening in the refueling island and approaches the filler flap. The robot remains flexible whendocked on, in other ... time in anemergency, since nothing prevents the car door from opening. Safe access to the refueling islandis guaranteed at all times. Figure 28.33 depicts a refilling station in operation since ... (left) and atouch-screen terminal for inserting credit card, entering refilling order and printing (right). (From Leondes, C.T.,Mechatronic Systems Techniques and Applications, Vol. 2, Gordon...
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Tài liệu Modeling, Measurement and Control P1 pptx
... (Machining/Manufacturing) Definitions Machining System One or more machine tools and tooling, and auxiliary equipment (e.g., material handling, control, communications) that operate in a coordinated ... sequence of operations and processplanning, control of the machines and monitoring of the processes (on/off line), automation,networking and communication systems, and quality control of the production ... analyzing and specifying the key drivers behind the changes. Certainly, availability and distribution of information play an important role in this transition and are considered keydrivers. In...
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Tài liệu Modeling, Measurement and Control P3 pdf
... repeatedly.There are two distinct types of control systems in a typical automated manufacturing system:continuous control and discrete event control. Continuous control systems regulate continuousvariables ... the machinelevel as well as the coordination between machines (including material handling). The discreteevent controller is also responsible for machine services, such as lubrication and coolant.Both ... the control systemcannot be tested until all of the machinery is in place in the factory setting.Simulation of the control system combined with the mechanical machine is becoming more commonin...
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Tài liệu Modeling, Measurement and Control P5 pptx
... 1996, Intelligent control of machining under modeling uncertainty,CIRP Manufacturing Systems, 25, 1, 73–79.68. Ivester, R., Danai, K., and Malkin, S., 1997, Cycle time reduction in machining ... network modeling is appealingfrom the point of view of coping with process uncertainty; however, it has limited utility in manufacturing due to the expense associated with obtaining training data. ... each process cycle. It obtains the machine settings by solving acustomized nonlinear programming (NLP) problem, and allows for uncertainty by incorporatingconservatism into the NLP problem. This...
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Tài liệu Modeling, Measurement and Control P6 ppt
... monitoring and controlling the phenomenaarising from the interaction of the cutting tool and the workpiece in machining operations. It canbe readily seen that advances in the modeling of cutting ... developments in the adaptive control ofmachine tools, ASME Journal of Dynamic Systems, Measurement, and Control, 105, 107, 1983.12. Landers, R. G. and Ulsoy A. G., Machining force control including ... Engineering for Industry, 114, 146, 1992.20. Landers, R. G. and Ulsoy A. G., Chatter analysis of machining systems with nonlinear forceprocesses, in ASME International Mechanical Engineering...
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Tài liệu Modeling, Measurement and Control P7 pptx
... Boyce, M. C., A predictive tool for delaying wrinkling and tearing failures in sheetmetal forming, Journal of Engineering Materials and Technology (Transactions of the ASME)(U.S.A.), 119(4), ... displacement is increasing or decreasing. 7.2.2 Mechanics of Forming: Bending, Stretching, and Springback Because all forming involves curvature change, some type of bending is always present. ... Load: Forming Physics Mechanics of Deformation: Machine Load Dynamics • Mechanics of Forming: Bending, Stretching, and Springback 7.3 Machine Control Sensors 7.4 Machine Control: Force...
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