transactions in measurement and control omega
Transactions in measurement and control
Ngày tải lên :
20/10/2013, 01:15
... erosion, and internal
scale build up. In spite of its high ini-
tial cost, the total cost of owner-
ship can still be favorable because
of savings in installation and operat-
ing and maintenance ... air speed in rac-
ing cars and Air Force fighter jets. In
industrial applications, pitot tubes
are used to measure air flow in pipes,
ducts, and stacks, and liquid flow in
pipes, weirs, and open ... and liners are
available in many materials and are
widely used in all the process indus-
tries, including food, pharmaceutical,
mining, and metals.
Some liner materials (particularly
Teflon®) can...
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Modeling, Measurement and Control P18
Ngày tải lên :
18/10/2013, 09:15
... the selected generalized coordinates and an
independent set of the tendon and rod vectors forming l. All remaining tendon vectors may be
written as a linear combination of l. This relation will ... (18.B.2)
where
(18.B.3)
Solving (18.B.2) for x we obtain
x = Q
–1
y (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 that
are in contact at nodal points, with a ball joint, transmitting no torques. In Class 1 the rods do not
touch and a stable equilibrium must be achieved by pretension in the...
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Modeling, Measurement and Control P21
Ngày tải lên :
25/10/2013, 13:15
... and the corresponding joint. Different types of shafts, chains, belts, ball screws, and linkage
structures 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 using
index
j
with all variables and constants in the dynamic model (21.3). This was done in Section
20.3.1. ... 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
Ngày tải lên :
29/10/2013, 20:15
... 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. The
purpose of the robust controller is to ensure that the control ... tasks are machining processes such as
grinding, deburring, polishing, and bending. Force is an inherent part of the process and plays a
decisive role in task fulfillment (e.g., metal cutting or plastic...
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Modeling, Measurement and Control P24
Ngày tải lên :
29/10/2013, 20:15
... variable-gain controllers in many respects outperform constant-
gain schemes. The most obvious advantage was the improvement in accuracy demonstrated in both
positioning and trajectory tracking tasks. ... the number of actuated joints, are nominal control signal u
0i
, joint position error ,
joint velocity error , and integral error . In cases where a highly precise tracking of fast
trajectory is ... sophisticated control rules for tuning the gains, Vukobratovi´c and Karan have
considered a simple decentralized scheme consisting of independent joint servo tuners operating
on the basis of observed joint...
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Modeling, Measurement and Control P26
Ngày tải lên :
09/11/2013, 05:15
... 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 generalized
coordinates and its derivatives. In other words, the constraints may have their origins in the system’s
geometry and/ or kinematics.
A ... desired (commanded) one. In this case, the above equation becomes
(26.34)
where u
R
and u
L
are left- and right-wheel control inputs. From (Equations 26.22 and 26.23) we
obtain:
(26.35)
and
(26.36)
FIGURE...
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Tài liệu Modeling, Measurement and Control P31 doc
Ngày tải lên :
17/12/2013, 13:15
... Process Control
7.6 Direct Shape Feedback and Control
7.7 Summary
References
8
Assembly and Welding Processes and Their Monitoring and Control
8.1 Assembly Processes
8.2 Monitoring and Control ...
Machine Tool Dynamics and Vibrations
4.1 Introduction
4.2 Chatter Vibrations in Cutting
4.3 Analytical Prediction of Chatter Vibrations in Milling
References
5
Machine Tool Monitoring and Control
... Dorf
The Handbook of Formulas and Tables for Signal Processing, Alexander D. Poularikas
The Industrial Electronics Handbook, J. David Irwin
The Measurement, Instrumentation, and Sensors Handbook,...
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Tài liệu Modeling, Measurement and Control P28 docx
Ngày tải lên :
17/12/2013, 13:15
... which are distinguished by framed structures
supporting 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 volume
has, increased to more than ... the
robot brings the frame into a mechanical centering device for fine positioning and for eliminating
tolerances 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
Ngày tải lên :
17/12/2013, 13:15
... data processing elements and their integration in a system
architecture
• Man–machine interactions and their task level interfaces
Perceptive capabilities of the system result in the mapping of the ... disconnected instantly
by 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 environment
concentrates on defining all relevant geometric, kinematic, and dynamic properties:
•...
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Tài liệu Modeling, Measurement and Control P30 pptx
Ngày tải lên :
17/12/2013, 13:15
... refueling station, the robot moves into the initial position. It emerges from the
opening in the refueling island and approaches the filler flap. The robot remains flexible when
docked on, in other ... time in an
emergency, since nothing prevents the car door from opening. Safe access to the refueling island
is guaranteed at all times. Figure 28.33 depicts a refilling station in operation since ... (left) and a
touch-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
Ngày tải lên :
23/01/2014, 06:20
...
(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 process
planning, 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 key
drivers. In...
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Tài liệu Modeling, Measurement and Control P3 pdf
Ngày tải lên :
23/01/2014, 06:20
... 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 continuous
variables ... the machine
level as well as the coordination between machines (including material handling). The discrete
event controller is also responsible for machine services, such as lubrication and coolant.
Both ... the control system
cannot 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 common
in...
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Tài liệu Modeling, Measurement and Control P5 pptx
Ngày tải lên :
23/01/2014, 06:20
... 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 appealing
from 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 a
customized nonlinear programming (NLP) problem, and allows for uncertainty by incorporating
conservatism into the NLP problem. This...
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Tài liệu Modeling, Measurement and Control P6 ppt
Ngày tải lên :
23/01/2014, 06:20
... monitoring and controlling the phenomena
arising from the interaction of the cutting tool and the workpiece in machining operations. It can
be readily seen that advances in the modeling of cutting ... developments in the adaptive control of
machine 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 force
processes, in ASME International Mechanical Engineering...
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Tài liệu Modeling, Measurement and Control P7 pptx
Ngày tải lên :
23/01/2014, 06:20
... Boyce, M. C., A predictive tool for delaying wrinkling and tearing failures in sheet
metal 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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