902 resultados para Intelligent control systems
Resumo:
The time required to image large samples is an important limiting factor in SPM-based systems. In multiprobe setups, especially when working with biological samples, this drawback can make impossible to conduct certain experiments. In this work, we present a feedfordward controller based on bang-bang and adaptive controls. The controls are based in the difference between the maximum speeds that can be used for imaging depending on the flatness of the sample zone. Topographic images of Escherichia coli bacteria samples were acquired using the implemented controllers. Results show that to go faster in the flat zones, rather than using a constant scanning speed for the whole image, speeds up the imaging process of large samples by up to a 4x factor.
Resumo:
Lobjectiu del treball s emular virtualment lentorn de treball del robot Stubli Tx60 quehi ha al laboratori de robtica de la UdG (dins les possibilitats que ofereix el software adquirit).Aquest laboratori intenta reproduir un entorn industrial de treball en el qual es realitzalassemblatge dun conjunt de manera cent per cent automatitzada.En una primera fase, sha dissenyat en tres dimensions tot lentorn de treball que hi hadisponible al laboratori a travs del software CAD SolidWorks. Cada un dels conjuntsque conformen lestaci de treball sha dissenyat de manera independent.Posteriorment sintrodueixen tots els elements dissenyats dins el software StubliRobotics Suite 2013. Amb tot lanterior, cal remarcar que lobjectiu principal del treball consta de duesetapes. Inicialment es dissenya el model 3D de lentorn de treball a travs del software SolidWorks i sintrodueix dins el software Stubli Robotics Suite 2013. Enuna segona etapa, es realitza un manual ds del nou software de robtica
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Shknmittaus suoritetaan eneneviss mrin lykkiden energiamittareiden avulla niin Suomessa kuin muuallakin maailmassa. lykkt energiamittarit mahdollistavat huomattavasti monipuolisemman mittaustiedon saannin kuin tavanomaisilla mittareilla saatavan pelkn kulutetun energian mrn. Mittauksesta vastuussa olevalle taholle syntyy kuluja mittareiden asennuksesta uusien tehokkaampien tietojrjestelmien yllpitoon siirryttess uuteen lykkmpn mittausjrjestelmn. Kulujen kattamiseksi olisi hydyllist, jos monipuolisempaa mittaustietoa voitaisiin kytt laajemmin kuin pelkstn asiakkaiden laskutukseen. Tst johtuen mittaustiedon tehokasta hydyntmist varten tulee kehitt uusia palveluja esimerkiksi raportoinnin, mittaustietojen analysoinnin sek kysyntjouston saralla. Tss tyss esitelln lykkisiin energiamittareihin liittyv tekniikkaa ja syit miksi lykkmpiin shknmittausjrjestelmiin ollaan siirtymss. Mittaroinnin nykytilannetta kydn lpi niin Suomen kuin eriden muidenkin Euroopan maiden osalta. Tyss esitetn mys muutamia kytnnn palvelumahdollisuuksia ja pohditaan millaiseksi shknmittausjrjestelmt tulevaisuudessa muotoutuvat.
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This paper proposes a pose-based algorithm to solve the full SLAM problem for an autonomous underwater vehicle (AUV), navigating in an unknown and possibly unstructured environment. The technique incorporate probabilistic scan matching with range scans gathered from a mechanical scanning imaging sonar (MSIS) and the robot dead-reckoning displacements estimated from a Doppler velocity log (DVL) and a motion reference unit (MRU). The proposed method utilizes two extended Kalman filters (EKF). The first, estimates the local path travelled by the robot while grabbing the scan as well as its uncertainty and provides position estimates for correcting the distortions that the vehicle motion produces in the acoustic images. The second is an augment state EKF that estimates and keeps the registered scans poses. The raw data from the sensors are processed and fused in-line. No priory structural information or initial pose are considered. The algorithm has been tested on an AUV guided along a 600 m path within a marina environment, showing the viability of the proposed approach
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The activated sludge process - the main biological technology usually applied towastewater treatment plants (WWTP) - directly depends on live beings (microorganisms), and therefore on unforeseen changes produced by them. It could be possible to get a good plant operation if the supervisory control system is able to react to the changes and deviations in the system and can take thenecessary actions to restore the systems performance. These decisions are oftenbased both on physical, chemical, microbiological principles (suitable to bemodelled by conventional control algorithms) and on some knowledge (suitable to be modelled by knowledge-based systems). But one of the key problems in knowledge-based control systems design is the development of an architecture able to manage efficiently the different elements of the process (integrated architecture), to learn from previous cases (spec@c experimental knowledge) and to acquire the domain knowledge (general expert knowledge). These problems increase when the process belongs to an ill-structured domain and is composed of several complex operational units. Therefore, an integrated and distributed AIarchitecture seems to be a good choice. This paper proposes an integrated and distributed supervisory multi-level architecture for the supervision of WWTP, that overcomes some of the main troubles of classical control techniques and those of knowledge-based systems applied to real world systems
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Tyn tarkoituksena oli tutkia kasvun vaikutuksia yrityksen talous-ohjaukseen. Yrityksen kasvun mandollisuuksia ja kasvuvaiheita tutkimalla pyrittiin lytmn ne keskeiset osa-alueet, joiden seuranta on trke yrityksen kasvukyvykkyyden ja kasvun hallinnan kannalta nimenomaan talousohjauksen nkkulmasta. Tutkimus on toteutettu yhden tapauksen kvalitatiivisena tutkimuksena, jota on tydennetty mys kvantitatiivisin menetelmin. Tutkimusaineistoa kerttiin usealla eri metodilla. Tutkimustulokset osoittivat, ett talousohjauksen rooli on erittin trke voimakkaasti kasvavassa yrityksess. Talousohjauksen ensisijainen tehtv kasvuyrityksess on tukea johtoa muutostilanteessa luomalla yhteniset toimintatavat ja seurantajrjestelmt. Mys kannattavuuden ja rahoituksen seuranta on kasvuyritykselle trke.
Resumo:
Synchronous motors are used mainly in large drives, for example in ship propulsion systems and in steel factories' rolling mills because of their high efficiency, high overload capacity and good performance in the field weakening range. This, however, requires an extremely good torque control system. A fast torque response and a torque accuracy are basic requirements for such a drive. For large power, high dynamic performance drives the commonly known principle of field oriented vector control has been used solely hitherto, but nowadays it is not the only way to implement such a drive. A new control method Direct Torque Control (DTC) has also emerged. The performance of such a high quality torque control as DTC in dynamically demanding industrial applications is mainly based on the accurate estimate of the various flux linkages' space vectors. Nowadays industrial motor control systems are real time applications with restricted calculation capacity. At the same time the control system requires a simple, fast calculable and reasonably accurate motor model. In this work a method to handle these problems in a Direct Torque Controlled (DTC) salient pole synchronous motor drive is proposed. A motor model which combines the induction law based "voltage model" and motor inductance parameters based "current model" is presented. The voltage model operates as a main model and is calculated at a very fast sampling rate (for example 40 kHz). The stator flux linkage calculated via integration from the stator voltages is corrected using the stator flux linkage computed from the current model. The current model acts as a supervisor that prevents only the motor stator flux linkage from drifting erroneous during longer time intervals. At very low speeds the role of the current model is emphasised but, nevertheless, the voltage model always stays the main model. At higher speeds the function of the current model correction is to act as a stabiliser of the control system. The current model contains a set of inductance parameters which must be known. The validation of the current model in steady state is not self evident. It depends on the accuracy of the saturated value of the inductances. Parameter measurement of the motor model where the supply inverter is used as a measurement signal generator is presented. This so called identification run can be performed prior to delivery or during drive commissioning. A derivation method for the inductance models used for the representation of the saturation effects is proposed. The performance of the electrically excited synchronous motor supplied with the DTC inverter is proven with experimental results. It is shown that it is possible to obtain a good static accuracy of the DTC's torque controller for an electrically excited synchronous motor. The dynamic response is fast and a new operation point is achieved without oscillation. The operation is stable throughout the speed range. The modelling of the magnetising inductance saturation is essential and cross saturation has to be considered as well. The effect of cross saturation is very significant. A DTC inverter can be used as a measuring equipment and the parameters needed for the motor model can be defined by the inverter itself. The main advantage is that the parameters defined are measured in similar magnetic operation conditions and no disagreement between the parameters will exist. The inductance models generated are adequate to meet the requirements of dynamically demanding drives.
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The Nucleus accumbens (Nacc) has been proposed to act as a limbic-motor interface. Here, using invasive intraoperative recordings in an awake patient suffering from obsessive-compulsive disease (OCD), we demonstrate that its activity is modulated by the quality of performance of the subject in a choice reaction time task designed to tap action monitoring processes. Action monitoring, that is, error detection and correction, is thought to be supported by a system involving the dopaminergic midbrain, the basal ganglia, and the medial prefrontal cortex. In surface electrophysiological recordings, action monitoring is indexed by an error-related negativity (ERN) appearing time-locked to the erroneous responses and emanating from the medial frontal cortex. In preoperative scalp recordings the patient's ERN was found to be signi cantly increased compared to a large (n = 83) normal sample, suggesting enhanced action monitoring processes. Intraoperatively, error-related modulations were obtained from the Nacc but not from a site 5 mm above. Importantly, crosscorrelation analysis showed that error-related activity in the Nacc preceded surface activity by 40 ms. We propose that the Nacc is involved in action monitoring, possibly by using error signals from the dopaminergic midbrain to adjust the relative impact of limbic and prefrontal inputs on frontal control systems in order to optimize goal-directed behavior.
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This thesis introduces a real-time simulation environment based on the multibody simulation approach. The environment consists of components that are used in conventional product development, including computer aided drawing, visualization, dynamic simulation and finite element software architecture, data transfer and haptics. These components are combined to perform as a coupled system on one platform. The environment is used to simulate mobile and industrial machines at different stages of a product life time. Consequently, the demands of the simulated scenarios vary. In this thesis, a real-time simulation environment based on the multibody approach is used to study a reel mechanism of a paper machine and a gantry crane. These case systems are used to demonstrate the usability of the real-time simulation environment for fault detection purposes and in the context of a training simulator. In order to describe the dynamical performance of a mobile or industrial machine, the nonlinear equations of motion must be defined. In this thesis, the dynamical behaviour of machines is modelled using the multibody simulation approach. A multibody system may consist of rigid and flexible bodies which are joined using kinematic joint constraints while force components are used to describe the actuators. The strength of multibody dynamics relies upon its ability to describe nonlinearities arising from wearing of the components, friction, large rotations or contact forces in a systematic manner. For this reason, the interfaces between subsystems such as mechanics, hydraulics and control systems of the mechatronic machine can be defined and analyzed in a straightforward manner.
Resumo:
Resum Lany 1969 es van comenar a comercialitzar els sistemes digitals programables coneguts com autmats programables o PLCs, utilitzats per controlar qualsevol tipus de procs industrial. Al llarg de tots aquests anys, aquests sistemes i tota la tecnologia en general han evolucionat molt, i noms s qesti de temps que la tecnologia que utilitzem avui en dia quedi obsoleta i substituda per una de millors caracterstiques i amb ms avantatges. Aquest s el motiu de lelaboraci daquest treball, que com a objectiu pretn modernitzar un procs de fabricaci duna industria qumica que ha quedat molt limitat a causa de lantiguitat de la installaci. Per dur a terme aquesta modernitzaci, sintrodueixen sistemes de control amb majors prestacions, sutilitzen xarxes de comunicacions per facilitar el muntatge elctric de la installaci i un sistema de supervisi i adquisici de dades per poder obtenir un control ms estricte del procs de fabricaci i de tots els factors que intervenen. El funcionament del procs de fabricaci s que a partir dunes matries primeres lquides emmagatzemades en dipsits, es dosifiquin aquestes matries en lordre i la quantitat desitjada dins un o diversos recipients per barrejar-les i aplicar els tractaments que siguin necessaris. Tot aquest procs est controlat per un autmat programable, i disposa de diferents terminals operadors per poder interactuar amb el sistema. Tamb t implementat un sistema SCADA en diversos ordinadors per aportar una visi general de la planta en temps real, un registre de dades dels parmetres que es controlen i alhora serveix per enllaar amb la xarxa dordinadors existent. Com annex daquest treball, es presenten els esquemes elctrics i el programa de lautmat programable per veure totes les caracterstiques elctriques dels dispositius i el mtode de funcionament del procs. Sha aconseguit donar un salt tecnolgic i poder gaudir de tots els avantatges que ofereixen les noves tecnologies, que com a resultat sha optimitzat i millorat el procs de fabricaci. De totes les conclusions, la ms destacada s la dhaver dissenyat un sistema de control basat en una estructura descentralitzada molt flexible, que es pot expandir i adaptar fcilment als possibles canvis.
Resumo:
JCM s una empresa dedicada al disseny de sistemes de control daccs. Disposa duns equips elctrics amb molts parmetres configurables, aix es poden utilitzar en molts tipus dinstallaci. Aquets parmetres sn configurables pels clients. JCM, disposa dun servei datenci telefnica (SAT), que intenta donar solucions a tots els problemes que puguin sorgir als clients. Sovint, no poden donar suport als dubtes dels clients per culpa de la poca informaci que reben a travs del client. L'objectiu del projecte s resoldre el problema de falta d'informaci i mala comunicaci per millorar la qualitat del servei que ofereix el SAT. La soluci, no ha dalterar el cost de producci del producte. Sha de tenir en compte tamb que els equips poden estar installats en qualsevol part del mn i que noms es poden utilitzar recursos de fcil accs per tots els clients. Per complir amb aquests objectius, emetrem un missatge, a travs del brunzidor del equip, amb la informaci de configuraci de l'equip. Aquest missatge viatjar a travs de la xarxa telefnica fins al SAT. Un cop all, el descodificarem i n'enviarem les dades a un PC perqu pugui presentar les dades sobre la configuraci de una forma clara pel SAT.
Resumo:
Verkostokeskeisess sodankynniss tietojrjestelmien suurimpana haasteena on oikean tiedon hajauttaminen oikeaan paikkaan ja aikaan. Tietojrjestelmiss esitettvn ilmatilannekuvan tulee vastata reaalimaailman tilannetta parhaalla mahdollisella tavalla. Ilmatorjunnassa reaaliaikaisuus nousee erityisen suureen rooliin nopeasti liikkuvien kohteiden takia. Tm diplomity on tehty Insta DefSec Oy:ss liittyen johtamisjrjestelmn uudistamishankkeeseen. Tyn vaatimuksina olivat standardeihin perustuvat ratkaisut, joista keskeisimmksi nousi Data Distribution Service -standardi (DDS) ja sen hydyntminen osana johtamisjrjestelmn tiedon hajautusta. Tyss esitelln johtamisjrjestelmien tiedon hajautukseen liittyvi haasteita sek paikallisessa ett maantieteellisesti hajautetussa toimintaympristss. Tyss toteutettiin liityntohjelmisto nykyisen ja uuden johtamisjrjestelmn vlille. Liityntohjelmiston tehtvn on tuottaa reaaliaikaista ilmatilannekuvaa nykyisest johtamisjrjestelmst uuteen johtamisjrjestelmn. DDS-standardin toteuttavana vlikerrosarkkitehtuurina kytettiin OpenSplice DDS -tuotetta. Valittu teknologia tarjoaa edistykselliset julkaisijatilaaja-mallin mukaiset menetelmt tiedon reaaliaikaiseen hajauttamiseen. DDS:n arkkitehtuuri ja palvelun laadun mekanismit mahdollistavat tiedon hajautuksen sodanajan johtamisjrjestelmille.
Resumo:
Tehdyss kirjallisuus- ja teoriakatsauksessa vuosien 2006 - 2010 vlisen aikana, Keski-Suomessa toimivan konepajateollisuuden jrjestelmtoimittajayrityksen toimeksiannosta, pyrittiin muodostamaan kokonaiskuva laajasta tuotannonsuunnittelun ja -ohjauksen aihealueesta. Perustutkimuskysymykset liittyivt ns. MPC-systeemiin, jolla tarkoitetaan sit, ett tuotannonsuunnittelu- ja ohjauskysymyksiss on huomioitava aina henkiliden, organisaation, teknologioiden ja prosessien muodostama kokonaisuus. Operatiivisen johtamisen tehtvn on yrityksen tuotteita koskevan kysynnn ja tarjonnan tasapainottaminen niin, ett resursseja kytettisiin ja tarvittaisiin mahdollisimman vhn vastattaessa kysyntn asiakasvaatimukset huomioiden. Tuotantostrategian pohjalta on voitava rakentaa MPC-systeemi, jonka avulla ja jota kehitten tuotanto saavuttaisi sille asetetut suorituskykytavoitteet mm. kustannusten, laadun, nopeuden, luotettavuuden sek tuottavuuskehityksen osalta. Tyss tarkasteltiin yleisen kolmitasoisen viitekehyksen kautta perinteisist MPC-systeemien perusratkaisuista hierarkkisia, suunnittelu- ja laskentaintensiivi, MRP-pohjaisia sek yksinkertaistamiseen ja nopeuteen perustuvia JIT/Lean -menetelmi. Tm viitekehys ksitt: 1) kysynnn- ja resurssien hallinnan, 2) yksityiskohtaisemman kapasiteetin ja materiaalien hallinnan sek 3) tarkemman tuotannon ja hankintojen ohjauksen sek tuotannon lattiatason osa-alueet. Johtamisen ja MPC-systeemien kehittmisen uusina aaltoina ja nkkulmina raportissa ksiteltiin mys johtamisen eri koulukuntia sek em. viitekehyksen pohjalta tarvittavia tietojrjestelmi. Olennaisimpana johtoptksen todettiin, ett MRP-pohjaisten ratkaisujen lisksi, etenkin monimutkaisia tuotteita tilausohjautuvasti valmistavien kappaletavarateollisuuden yritysten, on mahdollisesti hydynnettv mys kehittyneempi suunnittelu- ja ohjausjrjestelmi. Lisksi huomattiin, ett perinteisten strategioiden rinnalle yritysten on nostettava mys tieto- ja viestintteknologiastrategiat. On trke ymmrt, ett tydellist MPC-systeemi ei ole viel keksitty: jokaisen yrityksen tehtvksi ja vastuulle j oman totuutensa muodostaminen ja systeemins rakentaminen sen pohjalta.
Resumo:
Growing recognition of the electricity grid modernization to enable new electricity generation and consumption schemes has found articulation in the vision of the Smart Grid platform. The essence of this vision is an autonomous network with two-way electricity power flows and extensive real-time information between the generation nodes, various electricity-dependent appliances and all points in-between. Three major components of the Smart Grids are distributed intelligence, communication technologies, and automated control systems. The aim of this thesis is to recognize the challenges that Smart Grids are facing, while extinguishing the main driving factors for their introduction. The scope of the thesis also covers possible place of electricity Aggregator Company in the current and future electricity markets. Basic functions of an aggregator and possible revenue sources along with demand response feasibility calculations are reviewed within this thesis.
Resumo:
The maximum realizable power throughput of power electronic converters may be limited or constrained by technical or economical considerations. One solution to this problemis to connect several power converter units in parallel. The parallel connection can be used to increase the current carrying capacity of the overall system beyond the ratings of individual power converter units. Thus, it is possible to use several lower-power converter units, produced in large quantities, as building blocks to construct high-power converters in a modular manner. High-power converters realized by using parallel connection are needed for example in multimegawatt wind power generation systems. Parallel connection of power converter units is also required in emerging applications such as photovoltaic and fuel cell power conversion. The parallel operation of power converter units is not, however, problem free. This is because parallel-operating units are subject to overcurrent stresses, which are caused by unequal load current sharing or currents that flow between the units. Commonly, the term circulatingcurrent is used to describe both the unequal load current sharing and the currents flowing between the units. Circulating currents, again, are caused by component tolerances and asynchronous operation of the parallel units. Parallel-operating units are also subject to stresses caused by unequal thermal stress distribution. Both of these problemscan, nevertheless, be handled with a proper circulating current control. To design an effective circulating current control system, we need information about circulating current dynamics. The dynamics of the circulating currents can be investigated by developing appropriate mathematical models. In this dissertation, circulating current models aredeveloped for two different types of parallel two-level three-phase inverter configurations. Themodels, which are developed for an arbitrary number of parallel units, provide a framework for analyzing circulating current generation mechanisms and developing circulating current control systems. In addition to developing circulating current models, modulation of parallel inverters is considered. It is illustrated that depending on the parallel inverter configuration and the modulation method applied, common-mode circulating currents may be excited as a consequence of the differential-mode circulating current control. To prevent the common-mode circulating currents that are caused by the modulation, a dual modulator method is introduced. The dual modulator basically consists of two independently operating modulators, the outputs of which eventually constitute the switching commands of the inverter. The two independently operating modulators are referred to as primary and secondary modulators. In its intended usage, the same voltage vector is fed to the primary modulators of each parallel unit, and the inputs of the secondary modulators are obtained from the circulating current controllers. To ensure that voltage commands obtained from the circulating current controllers are realizable, it must be guaranteed that the inverter is not driven into saturation by the primary modulator. The inverter saturation can be prevented by limiting the inputs of the primary and secondary modulators. Because of this, also a limitation algorithm is proposed. The operation of both the proposed dual modulator and the limitation algorithm is verified experimentally.
