Showing posts with label automation. Show all posts
Showing posts with label automation. Show all posts

Modeling, Diagnostics and Process Control: Implementation in the DiaSter System Review

Modeling, Diagnostics and Process Control: Implementation in the DiaSter System
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The monograph provides the description of the developed DiaSter system, as well as the main characteristics of advanced original methods of modelling, knowledge discovery, simulator construction, diagnostics, control, and supervision control applied to the system under investigation. This system allows the early recognition of abnormal states of industrial processes and faults or malfunctions of actuators, as well as technological and measuring units. The general characteristics developed in DiaSter allow its direct application to power, chemical, pharmaceutical, metallurgical and food industries. As the system has an open architecture, it can be connected practically with any other control systems.
The main part of the monograph discusses analytical and artificial intelligence methods implemented in the DiaSter system. One of the first chapters is devoted to problems of physical process modelling, fundamental in modern control, diagnostics, or designing and searching for alternative solutions. An extensive chapter provides the description of process diagnosis methods, which can be found useful in industry and were implemented in the DiaSter system. Methods of fault identification are considered mainly with the application of fuzzy logic. Another chapter describes the methods of supervision control implemented in the system. The last chapter illustrates the operation of different functions of DiaSter for the example of the three tanks system. The selected example has tutorial advantages and gives the opportunity of studying the basic features of the DiaSter system.

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Modern control systems are complex in the sense of implementing numerous functions, such as process variable processing, digital control, process monitoring and alarm indication, graphic visualization of process running, or data exchange with other systems or databases. This book conveys a description of the developed DiaSter system as well as characteristics of advanced original methods of modeling, knowledge discovery, simulator construction, process diagnosis, as well as predictive and supervision control applied in the system. The system allows early recognition of abnormal states of industrial processes along with faults or malfunctions of actuators as well as technological and measuring units. The universality of solutions implemented in DiaSter facilitates its broad application, for example, in the power, chemical, pharmaceutical, metallurgical and food industries. The system is a world-scale unique solution, and due to its open architecture it can be connected practically with any other control systems. The monograph presents theoretical and practical results of research into fault diagnosis and control conducted over many years within the cooperation of Polish research teams from the Warsaw University of Technology, the University of Zielona Góra, the Silesian University of Technology in Gliwice, and the Technical University of Rzeszów.The book will be of great interest to researchers and advanced students in automatic control, technical diagnostics and computer engineering, and to engineers tasked with the development of advanced control systems of complex industrial processes.

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Autonomous Robots: Modeling, Path Planning, and Control Review

Autonomous Robots: Modeling, Path Planning, and Control
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Fahimi's book can be considered a specialisation of the recent Springer Springer Handbook of Robotics. The current book explains the control systems theory behind having a robot operate independently. The kinematics can be quite involved, and you should already have a good background in matrix algebra.
Important special cases treated include have multiple mobile robots and planning their interdependent paths. These are in the presence of various potential energy functions. In some scenarios the paths are on a two dimensional surface, like land or at sea level. While in others, the paths are fully three dimensional, as for flying robots or those under the sea.
The concept of an autopilot for maintaining constant velocity on a surface is seen as an important but fundamentally simple situation.
Each chapter ends with a short set of problems; making the text suitable for a university course.

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It is at least two decades since the conventional robotic manipulators have become a common manufacturing tool for different industries, from automotive to pharmaceutical. The proven benefits of utilizing robotic manipulators for manufacturing in different industries motivated scientists and researchers to try to extend the applications of robots to many other areas by inventing several new types of robots other than conventional manipulators. The new types of robots can be categorized in two groups; redundant (and hyper-redundant) manipulators, and mobile (ground, marine, and aerial) robots. These groups of robots, known as advanced robots, have more freedom for their mobility, which allows them to do tasks that the conventional manipulators cannot do.Engineers have taken advantage of the extra mobility of the advanced robots to make them work in constrained environments, ranging from limited joint motions for redundant (or hyper-redundant) manipulators to obstacles in the way of mobile (ground, marine, and aerial) robots.Since these constraints usually depend on the work environment, they are variable. Engineers have had to invent methods to allow the robots todeal with a variety of constraints automatically. A robot that is equipped with those methods is called an Autonomous Robot.Autonomous Robots: Kinematics, Path Planning, and Control covers the kinematics and dynamic modeling/analysis of Autonomous Robots, as well as the methods suitable for their control. The text is suitable for mechanical and electrical engineers who want to familiarize themselves with methods of modeling/analysis/control that have been proven efficient through research.

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Robotics: Modelling, Planning and Control (Advanced Textbooks in Control and Signal Processing) Review

Robotics: Modelling, Planning and Control (Advanced Textbooks in Control and Signal Processing)
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This book has everything a new grad student or aspiring roboticist would want. It covers the mechanics, the controls and even some vision for robotic manipulators. Very nice resource.

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Robot Modeling and Control Review

Robot Modeling and Control
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This one is really good book for all the people who want to excell in the basics of robotics.It was recomended by my professor for my course.The examples given are too clear and easily understandable.

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"The coverage is unparalleled in both depth and breadth. No other text that I have seen offers a better complete overview of modern robotic manipulation and robot control."-- Bradley Bishop, United States Naval AcademyBased on the highly successful classic, Robot Dynamics and Control, by Spong and Vidyasagar (Wiley, 1989), Robot Modeling and Control offers a thoroughly up-to-date, self-contained introduction to the field. The text presents basic and advanced material in a style that is at once readable and mathematically rigorous.Key Features* A step-by-step computational approach helps you derive and compute the forward kinematics, inverse kinematics, and Jacobians for the most common robot designs.* Detailed coverage of vision and visual servo control enables you to program robots to manipulate objects sensed by cameras.* An entire chapter on dynamics prepares you to compute the dynamics of the most common manipulator designs.* The most common motion planning and trajectory generation algorithms are presented in an elementary style.* The comprehensive treatment of motion and force control includes both basic and advanced methods.* The text's treatment of geometric nonlinear control is more readable than in more advanced texts.* Many worked examples and an extensive list of problems illustrate all aspects of the theory.About the authorsMark W. Spong is Donald Biggar Willett Professor of Engineering at the University of Illinois at Urbana-Champaign. Dr. Spong is the 2005 President of the IEEE Control Systems Society and past Editor-in-Chief of the IEEE Transactions on Control Systems Technology.Seth Hutchinson is currently a Professor at the University of Illinois in Urbana-Champaign, and a senior editor of the IEEE Transactions on Robotics and Automation. He has published extensively on the topics of robotics and computer vision.Mathukumalli Vidyasagar is currently Executive Vice President in charge of Advanced Technology at Tata Consultancy Services (TCS), India's largest IT firm. Dr. Vidyasagar was formerly the director of the Centre for Artificial Intelligence and Robotics (CAIR), under Government of India's Ministry of Defense.

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