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The CEBAF control system for the CHL

Description: The CEBAF Central Helium Liquefier (CHL) control system consists of independent safety controls located at each subsystem, CAMAC computer interface hardware, and a CEBAF-designed control software called Thaumaturgic Automated Control Logic (TACL). The paper describes how control software was interfaced with the subsystems of the CHL. Topics of configuration, editing, operator interface, datalogging, and internal logic functions are presented as they relate to the operational needs of the helium plant. The paper also describes the effort underway to convert from TACL to the Experimental Physics and Industrial Control System (EPICS), the new control system for the CEBAF accelerator. This software change will require customizing EPICS software to cryogenic process control.
Date: August 1, 1996
Creator: Keesee, M.S. & Bevins, B.S.
Partner: UNT Libraries Government Documents Department

Remote Manipulation for D&D Exhibiting Teleautonomy and Telecollaboration

Description: The purpose of the work is to enhance remote operations of robotic systems for D&D tasks by extending teleoperation with semi-autonomous functions. The work leverages the $1.2M dual-arm work platform (DAWP) developed with broad participation for the CP5 D&D, as well as 2,000 hr DAWP D&D operational experience. We propose to develop a reactive, agent-based control architecture well suited to unstructured and unpredictable environments, and robot control technology, which implements a virtual fixture that can be used to guide the application of tools with force-feedback control. Developed methodologies will be implemented using a structured light sensor and robot hand controller on the dual-arm system.
Date: June 1, 2004
Creator: Ewing, Thomas F.; Colgate, J. Edward; Park, Young S. & Peshkin, Michael A.
Partner: UNT Libraries Government Documents Department

Robotic Mobile Manipulation Experiments at the U.S. Army Maneuver Support Center

Description: This activity brought two robotic mobile manipulation systems developed by Sandia National Laboratories to the Maneuver Support Center (MANSCEN) at Ft. Leonard Wood for the following purposes: Demonstrate advanced manipulation and control capabilities; Apply manipulation to hazardous activities within MANSCEN mission space; Stimulate thought and identify potential applications for future mobile manipulation applications; and Provide introductory knowledge of manipulation to better understand how to specify capability and write requirements.
Date: June 1, 2002
Partner: UNT Libraries Government Documents Department

The final phase of the ATLAS control system upgrade

Description: The ATLAS facility (Argonne Tandem-Linac Accelerator System) is located at the Argonne National Laboratory. The facility is a tool used in nuclear and atomic physics research focusing primarily on heavy-ion physics. Due to the complexity of the operation of the facility, a computerized control system has always been required. The nature of the design of the accelerator has allowed the accelerator to evolve over time to its present configuration. The control system for the accelerator has evolved as well, primarily in the form of additions to the original design. A project to upgrade the ATLAS control system replacing most of the major original components was first reported on in the Fall of 1992 during the Symposium Of North Eastern Accelerator Personnel (SNEAP) at the AECL, Chalk River Laboratories. A follow-up report was given in the Fall of 1993 at the First Workshop on Applications of Vsystem Software and Users` Meeting at the Brookhaven National Laboratory. This project is presently in its third and final phase. This paper briefly describes the ATLAS facility, summarizes the control system upgrade project, and explains the intended control system configuration at the completion of the final phase of the project.
Date: December 1, 1995
Creator: Munson, F.; Kramer, S. & Tieman, B.
Partner: UNT Libraries Government Documents Department

A generic algorithm for constructing hierarchical representations of geometric objects

Description: For a number of years, robotics researchers have exploited hierarchical representations of geometrical objects and scenes in motion-planning, collision-avoidance, and simulation. However, few general techniques exist for automatically constructing them. We present a generic, bottom-up algorithm that uses a heuristic clustering technique to produced balanced, coherent hierarchies. Its worst-case running time is O(N{sup 2}logN), but for non-pathological cases it is O(NlogN), where N is the number of input primitives. We have completed a preliminary C++ implementation for input collections of 3D convex polygons and 3D convex polyhedra and conducted simple experiments with scenes of up to 12,000 polygons, which take only a few minutes to process. We present examples using spheres and convex hulls as hierarchy primitives.
Date: October 1, 1995
Creator: Xavier, P.G.
Partner: UNT Libraries Government Documents Department

Freeform fabrication of polymer-matrix composite structures

Description: The authors have developed, prototyped, and demonstrated the feasibility of a novel robotic technique for rapid fabrication of composite structures. Its chief innovation is that, unlike all other available fabrication methods, it does not require a mold. Instead, the structure is built patch by patch, using a rapidly reconfigurable forming surface, and a robot to position the evolving part. Both of these components are programmable, so only the control software needs to be changed to produce a new shape. Hence it should be possible to automatically program the system to produce a shape directly from an electronic model of it. It is therefore likely that the method will enable faster and less expensive fabrication of composites.
Date: May 1, 1997
Creator: Kaufman, S.G.; Spletzer, B.L. & Guess, T.L.
Partner: UNT Libraries Government Documents Department

Modular weapon control unit

Description: The goal of the Modular Weapon Control Unit (MWCU) program was to design and develop a reconfigurable weapon controller (programmer/sequencer) that can be adapted to different weapon systems based on the particular requirements for that system. Programmers from previous systems are conceptually the same and perform similar tasks. Because of this commonality and the amount of re-engineering necessary with the advent of every new design, the idea of a modular, adaptable system has emerged. Also, the controller can be used in more than one application for a specific weapon system. Functionality has been divided into a Processor Module (PM) and an Input/Output Module (IOM). The PM will handle all operations that require calculations, memory, and timing. The IOM will handle interfaces to the rest of the system, input level shifting, output drive capability, and detection of interrupt conditions. Configuration flexibility is achieved in two ways. First, the operation of the PM is determined by a surface mount Read-Only Memory (ROM). Other surface-mount components can be added or neglected as necessary for functionality. Second, IOMs consist of configurable input buffers, configurable output drivers, and configurable interrupt generation. Further, these modules can be added singly or in groups to a Processor Module to achieve the required I/O configuration. The culmination of this LDRD was the building of both Processor Module and Input/Output Module. The MWCU was chosen as a test system to evaluate Low-Temperature Co-fired Ceramic (LTCC) technology, desirable for high component density and good thermal characteristics.
Date: January 1, 1997
Creator: Boccabella, M.F. & McGovney, G.N.
Partner: UNT Libraries Government Documents Department

Semiotic aspects of control and modeling relations in complex systems

Description: A conceptual analysis of the semiotic nature of control is provided with the goal of elucidating its nature in complex systems. Control is identified as a canonical form of semiotic relation of a system to its environment. As a form of constraint between a system and its environment, its necessary and sufficient conditions are established, and the stabilities resulting from control are distinguished from other forms of stability. These result from the presence of semantic coding relations, and thus the class of control systems is hypothesized to be equivalent to that of semiotic systems. Control systems are contrasted with models, which, while they have the same measurement functions as control systems, do not necessarily require semantic relations because of the lack of the requirement of an interpreter. A hybrid construction of models in control systems is detailed. Towards the goal of considering the nature of control in complex systems, the possible relations among collections of control systems are considered. Powers arguments on conflict among control systems and the possible nature of control in social systems are reviewed, and reconsidered based on our observations about hierarchical control. Finally, we discuss the necessary semantic functions which must be present in complex systems for control in this sense to be present at all.
Date: August 1, 1996
Creator: Joslyn, C.
Partner: UNT Libraries Government Documents Department

Functions and Requirements and Specifications for Replacement of the Computer Automated Surveillance System (CASS)

Description: This functions, requirements and specifications document defines the baseline requirements and criteria for the design, purchase, fabrication, construction, installation, and operation of the system to replace the Computer Automated Surveillance System (CASS) alarm monitoring.
Date: December 16, 1999
Creator: Scaief, C. C.
Partner: UNT Libraries Government Documents Department

Thermal Imaging Control of Furnaces and Combustors

Description: The object if this project is to demonstrate and bring to commercial readiness a near-infrared thermal imaging control system for high temperature furnaces and combustors. The thermal imaging control system, including hardware, signal processing, and control software, is designed to be rugged, self-calibrating, easy to install, and relatively transparent to the furnace operator.
Date: February 28, 2003
Creator: Rue, David M.; Zelepouga, Serguei & Puri, Ishwar K.
Partner: UNT Libraries Government Documents Department

Low level RF system design for the PEP-II B factory

Description: Heavy beam loading in PEP-II has driven the design of the low level RF system to contain feedback loops similar to those used in proton rings. The RF feedback loops control longitudinal coupled-bunch instabilities caused by the beam interaction with the accelerating mode of the RF cavities by reducing the cavity impedance observed by the beam. The RF system employs a modular design housed in a VXI environment and uses the EPICS control system. Modem control system design and signal processing is used throughout the system. This paper describes the RF system topology and the signal processing used to fulfill the system requirements.
Date: October 1, 1995
Creator: Corredoura, P.; Claus, R. & Sapozhnikov, L.
Partner: UNT Libraries Government Documents Department

APS runControl library

Description: This document serves as a User`s Manual and Reference for the runControl library. This library is designed to be used by closed- loop EPICS control applications which are generally run in the background on the controls workstations. It permits an application to `register` itself with an EPICS record, thereby preventing additional instances of the same application from being run. In addition, the executing application may in turn be suspended or aborted via an MEDM control screen or other standard channel access client.
Date: October 25, 1995
Creator: Saunders, C. & Borland, M.
Partner: UNT Libraries Government Documents Department

The RHIC real time data link system

Description: The RHIC Real Time Data Link (RTDL) System distributes to all locations around the RHIC ring machine parameters of general interest to accelerator systems and users. The system, along with supporting host interface, is centrally located. The RTDL System is comprised of two module types: the Encoder Module (V105) and the Input Module (V106). There is only one V105 module, but many (up to 128) Input Modules. Multiple buffered outputs are provided for use locally or for retransmission to other RHIC equipment locations. Machine parameters are generated from the V115 Waveform Generator Module (WFG) or from machine hardware and coupled directly through a fiber optic serial link to one of the V106 input channels.
Date: July 1, 1997
Creator: Hartmann, H.
Partner: UNT Libraries Government Documents Department

Hardware design and implementation of the closed-orbit feedback system at APS

Description: The Advanced Photon Source (APS) storage ring will utilize a closed-orbit feedback system in order to produce a more stable beam. The specified orbit measurement resolution is 25 microns for global feedback and 1 micron for local feedback. The system will sample at 4 kHz and provide a correction bandwidth of 100 Hz. At this bandwidth, standard rf BPMs will provide a resolution of 0.7 micron, while specialized miniature BPMs positioned on either side of the insertion devices for local feedback will provide a resolution of 0.2 micron (1). The measured BPM noise floor for standard BPMs is 0.06 micron per root hertz mA. Such a system has been designed, simulated, and tested on a small scale (2). This paper covers the actual hardware design and layout of the entire closed-loop system. This includes commercial hardware components, in addition to many components designed and built in-house. The paper will investigate the large-scale workings of all these devices, as well as an overall view of each piece of hardware used.
Date: October 1, 1996
Creator: Barr, D. & Chung, Youngjoo
Partner: UNT Libraries Government Documents Department

1 nA beam position monitoring system

Description: A system has been developed at Jefferson Lab for measuring transverse position of very low current beams delivered to the Experimental Hall B of the Continuous Electron Beam Accelerator Facility (CEBAF). At the heart of the system is a position sensitive cavity operating at 1497 MHz. The cavity utilizes a unique design which achieves a high sensitivity to beam position at a relatively low cavity Q. The cavity output RF signal is processed using a down-converter and a commercial lock-in amplifier operating at 100 kHz. The system interfaces with a VME based EPICS control system using the IEEE, 488 bus. The main features of the system are simple and robust design, and wide dynamic range capable of handling beam currents from 1 nA to 1000 nA with an expected resolution better than 100 {mu}m. This paper outlines the design of the system.
Date: June 1, 1997
Creator: Ursic, R.; Flood, R. & Piller, C.
Partner: UNT Libraries Government Documents Department

Adaptive controller for hyperthermia robot

Description: This paper describes the development of an adaptive computer control routine for a robotically, deployed focused, ultrasonic hyperthermia cancer treatment system. The control algorithm developed herein uses physiological models of a tumor and the surrounding healthy tissue regions and transient temperature data to estimate the treatment region`s blood perfusion. This estimate is used to vary the specific power profile of a scanned, focused ultrasonic transducer to achieve a temperature distribution as close as possible to an optimal temperature distribution. The controller is evaluated using simulations of diseased tissue and using limited experiments on a scanned, focused ultrasonic treatment system that employs a 5-Degree-of-Freedom (D.O.F.) robot to scan the treatment transducers over a simulated patient. Results of the simulations and experiments indicate that the adaptive control routine improves the temperature distribution over standard classical control algorithms if good (although not exact) knowledge of the treated region is available. Although developed with a scanned, focused ultrasonic robotic treatment system in mind, the control algorithm is applicable to any system with the capability to vary specific power as a function of volume and having an unknown distributed energy sink proportional to temperature elevation (e.g., other robotically deployed hyperthermia treatment methods using different heating modalities).
Date: March 1, 1997
Creator: Kress, R.L.
Partner: UNT Libraries Government Documents Department

Data fusion for adaptive control in manufacturing: Impact on engineering information models

Description: Data fusion is the integration and analysis of data from multiple sensors to develop a more accurate understanding of a situation and determine how to respond to it. Although data fusion can be applied in many situations, this paper focuses on its application to manufacturing and how it changes some of the more traditional, less adaptive information models that support the design and manufacturing functions. The paper consists of four parts: Section 1 defines data fusion and explains its impact on manufacturing. Section 2 describes an information system architecture and explains the natural language-based information modeling methodology used by this research project. Section 3 identifies the major design and manufacturing functions, reviews the information models required to support them, and then shows how these models must be extended to support data fusion. Section 4 discusses the future directions of this work. This report is one of three produced by an FY93 LDRD project, Information Integration for Data Fusion. The project confirmed: (1) that the natural language-based information modeling methodology could be used effectively in data fusion areas, and (2) that commonalities could be found that would allow synergy across various data fusion areas, such as defense, manufacturing, and health care. The project found five common objects that are the basis for all of the data fusion areas examined: targets, behaviors, environments, signatures, and sensors. Many of these objects and the specific facts related to them were common across several models and could easily be reused. In some cases, even the terminology remained the same. This commonality is important with the growing use of multisensor data fusion. Data fusion is much more difficult if each type of sensor uses its own objects and models rather than building on a common set. Information model integration at the conceptual level is much easier ...
Date: January 1, 1997
Creator: Bray, O.H.
Partner: UNT Libraries Government Documents Department

Simulation framework for intelligent transportation systems

Description: A simulation framework has been developed for a large-scale, comprehensive, scaleable simulation of an Intelligent Transportation System (ITS). The simulator is designed for running on parallel computers and distributed (networked) computer systems, but can run on standalone workstations for smaller simulations. The simulator currently models instrumented smart vehicles with in-vehicle navigation units capable of optimal route planning and Traffic Management Centers (TMC). The TMC has probe vehicle tracking capabilities (display position and attributes of instrumented vehicles), and can provide two-way interaction with traffic to provide advisories and link times. Both the in-vehicle navigation module and the TMC feature detailed graphical user interfaces to support human-factors studies. Realistic modeling of variations of the posted driving speed are based on human factors studies that take into consideration weather, road conditions, driver personality and behavior, and vehicle type. The prototype has been developed on a distributed system of networked UNIX computers but is designed to run on parallel computers, such as ANL`s IBM SP-2, for large-scale problems. A novel feature of the approach is that vehicles are represented by autonomous computer processes which exchange messages with other processes. The vehicles have a behavior model which governs route selection and driving behavior, and can react to external traffic events much like real vehicles. With this approach, the simulation is scaleable to take advantage of emerging massively parallel processor (MPP) systems.
Date: October 1, 1996
Creator: Ewing, T.; Doss, E.; Hanebutte, U. & Tentner, A.
Partner: UNT Libraries Government Documents Department

On the reliability of the nervous (Nv) nets

Description: This paper investigates the reliability of a particular class of neural networks, the Nervous Nets (Nv). This is the class of nonsymmetric ring oscillator networks of inverters coupled through variable delays. They have been successfully applied to controlling walking robots, while many other applications will shortly be mentioned. The authors will then explain the robustness of Nv nets in the sense of their highly reliable functioning--which has been observed through many experiments. For doing that the authors will show that although the Nv net has an exponential number of periodic points, only a small (still exponential) part are stable, while all the others are saddle points. The ratio between the number of stable and periodic points quickly vanishes to zero as the number of nodes is increased, as opposed to classical finite state machines--where this ratio is relatively constant. These show that the Nv net will always converge quickly to a stable oscillatory state--a fact not true in general for finite state machines.
Date: December 31, 1998
Creator: Beiu, V.; Frigo, J.R. & Moore, K.R.
Partner: UNT Libraries Government Documents Department

Improving plasma shaping accuracy through consolidation of control model maintenance, diagnostic calibration, and hardware change control

Description: With the advent of more sophisticated techniques for control of tokamak plasmas comes the requirement for increasingly more accurate models of plasma processes and tokamak systems. Development of accurate models for DIII-D power systems, vessel, and poloidal coils is already complete, while work continues in development of general plasma response modeling techniques. Increased accuracy in estimates of parameters to be controlled is also required. It is important to ensure that errors in supporting systems such as diagnostic and command circuits do not limit the accuracy of plasma parameter estimates or inhibit the ability to derive accurate plasma/tokamak system models. To address this issue, we have developed more formal power systems change control and power system/magnetic diagnostics calibration procedures. This paper discusses our approach to consolidating the tasks in these closely related areas. This includes, for example, defining criteria for when diagnostics should be re-calibrated along with required calibration tolerances, and implementing methods for tracking power systems hardware modifications and the resultant changes to control models.
Date: December 1, 1995
Creator: Baggest, D.S.; Rothweil, D.A. & Pang, S.
Partner: UNT Libraries Government Documents Department

Building a modular robot control system using passivity and scattering theory

Description: This paper analyses the problems and presents solutions for building a modular robot control system. The approach requires modeling the entire robot system using multi-dimensional passive networks, breaking the system into subnetwork ``modules,`` and then discretizing the subnetworks, or n-ports, in a passivity preserving fashion. The main difficulty is the existence of ``algebraic loops`` in the discretized system. This problem is overcome by the use of scattering theory, whereby the inputs and outputs of the n-ports are mapped into wave variables before being discretized. By first segmenting the n-ports into nonlinear memoryless subnetworks and linear dynamic subnetworks and then discretizing using passivity preserving techniques such as Tustin`s method, a complete modular robot control solution is obtained.
Date: March 1, 1996
Creator: Anderson, R.J.
Partner: UNT Libraries Government Documents Department

Wireless technology for integrated manufacturing

Description: This paper describes the ground breaking work in Oak Ridge facilities that now leads us to the brink of the wireless revolution in manufacturing. The focus is on solving tough technological problems necessary for success and addressing the critical issues of throughput, security, reliability, and robustness in applying wireless technology to manufacturing processes. Innovative solutions to these problems are highlighted through detailed designs and testbed implementations that demonstrate key concepts. The DOE-Oak Ridge complex represented by the Oak Ridge Centers for Manufacturing Technologies (ORCMT) continues to develop these technologies and will continue to focus on solving tough manufacturing problems.
Date: August 1, 1996
Creator: Manges, W.W.; Allgood, G.O. & Shourbaji, A.A.
Partner: UNT Libraries Government Documents Department