Closed-Loop Control

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Closed-Loop Control of Local Magnetic Actuation for Robotic Surgical Instruments

Closed-Loop Control of Local Magnetic Actuation for Robotic Surgical Instruments

The solution we propose for the servo control of an LMA actu- ation unit takes advantage of a dynamic model of the coupling, adapted from a two-inertia servo-drive system, and a sensing strategy based on Hall effect MFSs placed next to the driving and the driven magnets. In this study, we also compare two alternative approaches in closing the control loop. The first, referred to as motor-side closed-loop control, uses the angu- lar velocity of the driving magnet as the feedback parameter and has the advantage of relying only on sensors placed on the motor-side of the coupling, thus outside the patient’s body. The alternative approach, referred to as load-side closed-loop control, directly controls the angular velocity at the load and requires a Hall effect sensor to be placed inside the surgical instrument. The two approaches were assessed and compared in terms of step response, load rejection, and maximum torque that can be transmitted at different speeds and intermagnetic distances.
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this PDF file RateBased Endto End Closed Loop Control for ABR Traffic Management | Djalal | Elkawnie 1 PB

this PDF file RateBased Endto End Closed Loop Control for ABR Traffic Management | Djalal | Elkawnie 1 PB

Abstract: ATM has one common feature which guarantees its success, namely the possibility to transport any ATM service, irrespective of its characteristics such as the bit rate, its quality requirements or its bursty nature. ATM also has high flexibility in allocate the bandwidth, and thus allows more calls to enter the network. Unfortunately, this advantage has a negative consequences. ATM presents congestion problems in the network as well as in the end terminals. This research describes about congestion control mechanism that will be applied for Available Bit Rate (ABR) Service in ATM networks, namely, the Rate-Based Congestion Control Scheme. This method supports end-to-end closed-loop control and has been indentified as the most appropriate for the support of this service by ATM Forum. ABR Service is a new ATM Service category. This kind of service automatically and dynamically allocates the available bandwidth to users by controlling the traffic flow based on feedback information. The source increases or decreases the source rate of cells transmission based on the information in the feedback Resource Management (RM) cell it receives. This method minimizes the duties of intermediate nodes and the destination node, so it is expected the source will receive the feedback information faster.
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CLOSED LOOP CONTROL MENGGUNAKAN ALGORITMA PID PADA LENGAN ROBOT DUA DERAJAT KEBEBASAN BERBASIS MIKROKONTROLER ATMEGA16.

CLOSED LOOP CONTROL MENGGUNAKAN ALGORITMA PID PADA LENGAN ROBOT DUA DERAJAT KEBEBASAN BERBASIS MIKROKONTROLER ATMEGA16.

Terdapat dua macam pengendalian aktuator pada robot. Pengendalian yang pertama adalah open loop control yaitu pengendalian yang hanya memberi perintah dari kontroler ke aktuator tanpa adanya umpan balik (feedback) dari aktuator ke kontroler. Pengendalian jenis ini mempunyai kemungkinan terjadi error yang besar pada hasil kerja aktuator. Macam kontrol yang kedua adalah pengendalian yang memanfaatkan sensor pada aktuator. Sensor berfungsi untuk memberikan feedback input kepada kontroler agar hasil gerak aktuator menjadi sesuai

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Hopping peak height algorithm for a one legged robot hopping height control.

Hopping peak height algorithm for a one legged robot hopping height control.

ABSTRACT – This paper presents the hopping peak height algorithm in controlling the hopping height of a one legged hopping robot. The hopping mechanism produces continuous and rhythmic pattern. The continuous and rhythmic pattern behaviors produce oscillation feedback to the closed loop system and continuously produce oscillation error to the controller. Therefore, hopping peak height algorithm is designed and embedded into the closed loop control system feedback to determine the hopping peak of each produced hopping as a feedback. The existence of the hopping peak height algorithm assists the PI-CPG controller to converge the hopping height error approximately to zero.
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 J00921

J00921

Seventeen students taking the Control System course were required to fill out a questionnaire as a basic assessment about the use of the microcontroller-based Ball and Beam. The statement in the questionnaire had to be answered on a five-point Likert scale with points 1, 2, 3, 4, and 5 representing “strongly disagree”, “disagree”, “neutral”, “agree”, and “strongly agree”, respectively. After exploring and practicing the Ball and Beam system, they gave their opinion on the following statements: The Ball and Beam helps students to understand closed- loop control system concepts and is easy to perform. Figure 11 shows the questionnaire result of the statement asked to the students. The result indicates that the microcontroller-based Ball and Beam system is an advantageous tool in achieving better understanding of closed-loop control system concepts and very easy to perform. The result of questionnaire was then converted to Rating Value of 94.12% indicating that the students were very satisfied.
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Simulation And Experiment Development For 3-Phase Voltage Dip Mitigation Using D-Q Controller.

Simulation And Experiment Development For 3-Phase Voltage Dip Mitigation Using D-Q Controller.

High power quality system with 100% reliability is the ability of the electrical system to deliver a clean signal without interruptions [1]. Control system consist of generator, transmission line and distribution line as ilustrated in Figure 2.1. In closed loop control system, the sensor can detect the amount of output signal which is not equal to the desired output signal when the plant experience fault. Then the comparison between the output signal and the reference signal is made using the controller. Next, the controller processed the signal and compensate the signals.
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isprs archives XLII 2 W7 143 2017

isprs archives XLII 2 W7 143 2017

This system is a remote control system for remote sensing decision making. It is a kind of closed-loop control in control theory. It is widely used in remote sensing geographic information science. Such a system will be returned to the input as a controlled input as a controlled output in a certain manner and a control relationship is imposed on the input. First of all, according to different remote sensing information applications to choose a different type of command decision. For such applications, remote sensing sensor loads such as space satellites, airplanes and even unmanned aerial vehicle systems are selected. Through the digital imaging of the actual features, access to different data images, that is, multi-source remote sensing data. And then through the computer digital processing to generate the type of visual identifiable features, where the classification of features can be monitored by remote sensing science classification or unsupervised classification to be achieved. To this end has been generated for a particular application of remote sensing information data. The last step, that is, the decision-making link of the whole system, according to the different needs of auxiliary command decision information and then for the original sensor selection, surface observation and remote sensing information resources to be replaced.
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Modul 1 PENGANTAR SISTEM KONTROL

Modul 1 PENGANTAR SISTEM KONTROL

Gambar 1.5 di bawah ini, mengilustrasikan blok diagram Open Loop Control System dan Closed Loop Control System. Selanjutnya, sebagian besar pembahasan Sistem Kontrol adalah berdasarkan kepada Closed Loop Control System atau lebih dikenal dengan Sistem Kontrol Umpan Balik (Feedback Control System).

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The Design Of A Torque Feedback Controller For An Upper Limb Robotic Arm.

The Design Of A Torque Feedback Controller For An Upper Limb Robotic Arm.

The robotic arm is the part of the robot where the end effectors and sensors are normally located for them to do their pre-programmed business [3]. Robot arm is usually used to pick up and place. Figure 2.3 displays a 6 joint robot arm using a motion controller that is able to control up to two axes and 5 degree of freedom robot arm. This robot is normally used at laboratory for training or research purposes. The movement resembles human joints. This robot will move according the programming and coordinate system, axis-y and axis-x [4]. Job of robot arm include:

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Pengembangan Model Persediaan Closed Loop Supply Chain dengan Mempertimbangkan Inspeksi, Sorting, Waste Disposal, dan Rework.

Pengembangan Model Persediaan Closed Loop Supply Chain dengan Mempertimbangkan Inspeksi, Sorting, Waste Disposal, dan Rework.

Eva Kholisoh, I0312028. PENGEMBANGAN MODEL PERSEDIAAN CLOSED LOOP SUPPLY CHAIN DENGAN MEMPERTIMBANGKAN INSPEKSI, SORTING , WASTE DISPOSAL , DAN REWORK . Skripsi. Surakarta: Program Studi Teknik Industri Fakultas Teknik, Universitas Sebelas Maret, September 2016.

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Pengembangan Model Closed-Loop Supply Chain Pemanufaktur-Pengecer dengan mempertimbangkan Proses Rework dan Learning Curve.

Pengembangan Model Closed-Loop Supply Chain Pemanufaktur-Pengecer dengan mempertimbangkan Proses Rework dan Learning Curve.

Dewasa ini, manajemen persediaan dengan mengaplikasikan reverse logisticss menjadi isu menarik di dunia industri yang semakin kompetitif . Untuk mengurangi penggunaan bahan baku, pemanufaktur mengumpulkan produk bekas pakai yang dikembalikan oleh konsumen untuk kemudian diperbaiki melalui proses pemulihan. Dalam prosesnya, terdapat kemungkinan dihasilkan produk cacat dari hasil proses produksi reguler yang harus di- rework sebelum didistribusikan. Sejauh ini, telah banyak penelitian mengenai Economic Production Quantity ( EPQ ), namun sebagian besar penelitian tersebut masih mengasumsikan kecepatan produksi dan remanufaktur bersifat konstan. Padahal, pada kenyataannya, aktivitas repetitif yang dilakukan pekerja akan membuat waktu yang dibutuhkan pekerja dalam melakukan aktivitas repetitif tersebut bertambah cepat, di mana fenomena ini disebut dengan efek learning. Melalui penelitian ini, diusulkan sebuah model sistem rantai pasok tertutup ( closed-loop supply chain ) yang melibatkan dua pihak, yaitu pemanufaktur dan pengecer. Pada penelitian ini dikaji pengaruh learning effect pada proses produksi reguler, remanufaktur, dan rework. Permintaan konsumen bersifat deterministik dan terpenuhi melalui produk jadi hasil proses produksi reguler dan remanufaktur. Tingkat pengembalian barang bekas pakai bergantung pada kualitas dan harga barang bekas pakai. Penelitian ini bertujuan untuk memaksimalkan total profit gabungan dengan menentukan kombinasi panjang siklus pemesanan pengecer, proporsi harga beli barang bekas pakai terhadap harga beli bahan baku, jumlah siklus remanufaktur, dan jumlah siklus produksi reguler. Algoritma disusun untuk menghasilkan solusi optimal pada model ini. Contoh numerik disajikan untuk mengilustrasikan aplikasi dari model yang telah dikembangkan pada penelitian ini.
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DC Motor Speed Control Using Microcontroller PIC 16F877A.

DC Motor Speed Control Using Microcontroller PIC 16F877A.

Direct current (DC) motor has already become n important drive coniguration for many applications across a wide range of powers and speeds. The ease of control and excellent pefomance of the DC motors will ensure that the number of applications using them will continue grow for the foreseeable uture. This project is mainly concened on C motor speed control system by using microcontroller PIC 16F877 A. It is a closed-loop real time control system, where optical encoder (built in this project) is coupled to the motor shat to provide he feedback speed sinal to controller. Pulse Width Modulation (PWM) technique is used where its sinal is generated in microcontroller. Microcontroller acts as propotional (P) controller wih Kp =1 in this study. The PWM sinal will send to motor driver to vary the voltage supply to motor to maintain at constant speed. Besides, it also shows a raph of motor speed versus time to let the user monitor the perfomnce of the system easily. Based on the esult, the reading of tachnometer built is quie reliable. Through the project, it can be concluded that microconroller PIC 16F877 A can conrol motor speed at desired speed althouh there is a vriation of load.
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T1__BAB V Institutional Repository | Satya Wacana Christian University: Trainer Kendali Kecepatan Motor DC Menggunakan Kendali PID dan GUI Matlab T1  BAB V

T1__BAB V Institutional Repository | Satya Wacana Christian University: Trainer Kendali Kecepatan Motor DC Menggunakan Kendali PID dan GUI Matlab T1 BAB V

7. Saat pengujian closed-loop dilakukan dan diberi gangguan, maka nilai aktual mengalami penurunan dibawah setpoint untuk sesaat namun karena adanya metode PID maka nilai aktual dapat mengejar setpoint dan kembali dalam kondisi steady state . Terlihat peningkatan nilai aktual ketika gangguan dihilangkan. Itu berarti PID membantu menaikan nilai pwm hingga mencapai nilai setpoint yang diinginkan.

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Directory listing of http:  uap.unnes.ac.id ebook m40

Directory listing of http: uap.unnes.ac.id ebook m40

The rotor plate which is eccentrically mounted in the pump housing is fitted with metal rollers in notches around its circumference which are pressed against the pump housing by centrifugal force and act as rolling seals. The fuel is car- ried in the cavities which form between the rollers. The pumping action takes place when the rollers, after having closed the inlet bore, force the trapped fuel in front of them until it can escape from the pump through the outlet bore (Figure 4). The fuel flows directly around the electric motor. There is no danger of explosion, however, because there is never an ignitable mixture in the pump housing.
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Pengembangan Model Persediaan Closed-loop Supply Chain dengan Mempertimbangkan Inspeksi, Sorting, dan Waste Disposal.

Pengembangan Model Persediaan Closed-loop Supply Chain dengan Mempertimbangkan Inspeksi, Sorting, dan Waste Disposal.

PENGEMBANGAN MODEL PERSEDIAAN CLOSED-LOOP SUPPLY CHAIN DENGAN MEMPERTIMBANGKAN INSPEKSI, SORTING, DAN WASTE DISPOSAL Skripsi ANINDYA RACHMA DWICAHYANI I 0311007 PROGRAM STUDI SA[r]

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Pengembangan Model Persediaan Closed Loop Supply Chain Dengan Mempertimbangkan Inspeksi, Sorting, Waste Disposal dan Rework BAB 0

Pengembangan Model Persediaan Closed Loop Supply Chain Dengan Mempertimbangkan Inspeksi, Sorting, Waste Disposal dan Rework BAB 0

Puji syukur kehadirat Allah SWT yang telah melimpahkan rahmat dan hidayah-Nya sehingga penulis dapat menyelesaikan laporan skripsi dengan judul “Pengembangan Model Persediaan Closed-loop Supply Chain dengan Mempertimbangkan Inspeksi, Sorting , Waste Disposal , dan Rework ”. Adapun laporan skripsi ini disusun sebagai salah satu syarat mendapatkan gelar Sarjana Teknik Industri Fakultas Teknik Universitas Sebelas Maret.

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Loop shaping Robust Control Free ebook download

Loop shaping Robust Control Free ebook download

We saw earlier that LQG control [KWA 72] was a particular case of a far broader class of problems encapsulated by the stabilization of a coprime factor plant description. However, the combination of the loop-shaping approach and optimal control has already been the subject of much interest in the world of industry, particularly with frequency-weighting LQG control [MOO 87], giving rise to numerous applications (e.g. see [MAM 91]). Hence, it seems natural to view loop- shaping H ∞ synthesis as being a generalization of this approach.

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Studi Eksperimen Karakteristik Aliran Fluida Melalui Large Octagonal Elbow Pada Closed-Loop Subsonic Wind Tunnel - ITS Repository

Studi Eksperimen Karakteristik Aliran Fluida Melalui Large Octagonal Elbow Pada Closed-Loop Subsonic Wind Tunnel - ITS Repository

Saat ini teknologi terowongan angin mengalami perkembangan yang sangat pesat dengan berbagai jenis sesuai kebutuhan. Adapun kategori bentuk terowongan angin ada dua jenis, saluran terbuka (open circuit) dan saluran tertutup (closed circuit). Tipe saluran terbuka (open circuit) memliki komponen seperti fan, test section, diffuser, dan contraction. Tipe saluran tertutup (closed circuit) mempunyai beberapa komponen seperti nozzle, test section, diffuser, fan, corner, honeycomb, dan settling chambers (Njock Libii, 2011). Dalam tingkat efisiensinya, wind tunnel pada saluran tertutup (closed circuit) memiliki efisiensi lebih tinggi dibandingkan saluran terbuka (open circuit) karena konsumsi power yang besar pada open circuit. Pada closed circuit udara akan terus bersikulasi sepanjang saluran tertutup. Selain efesiensi yang lebih besar, keuntungan lain yang didapat dari closed circuit adalah kontrol yang unggul atas kualitas aliran dengan adanya corner turning dan screens (Kulkami et al., 2012).
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this PDF file Analisa Performansi dan Robustness Beberapa Metode Tuning Kontroler PID pada Motor DC | Wicaksono | Jurnal Teknik Elektro 1 PB

this PDF file Analisa Performansi dan Robustness Beberapa Metode Tuning Kontroler PID pada Motor DC | Wicaksono | Jurnal Teknik Elektro 1 PB

Karena tidak semua proses dapat mentolerir keadaan osilasi dengan amplitudo tetap, Cohen – Coon berupaya memperbaiki metode osilasi dengan menggunakan metode quarter amplitude decay . Respon loop tertutup sistem, pada metode ini, dibuat sehingga respon berbentuk quarter amplitude decay. Quarter amplitude decay didefinisikan sebagai respon transien yang amplitudonya dalam periode pertama memiliki perbandingan sebesar seperempat (1/4).

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