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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

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

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
Creator: BENNETT, PHIL C. & ANDERSON, ROBERT J.
Partner: UNT Libraries Government Documents Department

A MySQL Based EPICS Archiver

Description: Archiving a large fraction of the EPICS signals within the Jefferson Lab (JLAB) Accelerator control system is vital for postmortem and real-time analysis of the accelerator performance. This analysis is performed on a daily basis by scientists, operators, engineers, technicians, and software developers. Archiving poses unique challenges due to the magnitude of the control system. A MySQL Archiving system (Mya) was developed to scale to the needs of the control system; currently archiving 58,000 EPICS variables, updating at a rate of 11,000 events per second. In addition to the large collection rate, retrieval of the archived data must also be fast and robust. Archived data retrieval clients obtain data at a rate over 100,000 data points per second. Managing the data in a relational database provides a number of benefits. This paper describes an archiving solution that uses an open source database and standard off the shelf hardware to reach high performance archiving needs. Mya has been in production at Jefferson Lab since February of 2007.
Date: October 1, 2009
Creator: Slominski, Christopher
Partner: UNT Libraries Government Documents Department

REALIZATION OF A CUSTOM DESIGNED FPGA BASED EMBEDDED CONTROLLER.

Description: As part of the Low Level RF (LLRF) upgrade project at Brookhaven National Laboratory's Collider-Accelerator Department (BNL C-AD), we have recently developed and tested a prototype high performance embedded controller. This controller is a custom designed PMC module employing a Xilinx V4FX60 FPGA with a PowerPC405 embedded processor, and a wide variety of on board peripherals (DDR2 SDRAM, FLASH, Ethernet, PCI, multi-gigabit serial transceivers, etc.). The controller is capable of running either an embedded version of LINUX or VxWorks, the standard operating system for RHIC front end computers (FECs). We have successfully demonstrated functionality of this controller as a standard RHIC FEC and tested all on board peripherals. We now have the ability to develop complex, custom digital controllers within the framework of the standard RHIC control system infrastructure. This paper will describe various aspects of this development effort, including the basic hardware, functional capabilities, the development environment, kernel and system integration, and plans for further development.
Date: October 15, 2007
Creator: SEVERINO,F.; HARVEY, M.; HAYES, T.; HOFF, L.; ODDO, P. & SMITH, K.S.
Partner: UNT Libraries Government Documents Department

Automated Groundwater Screening

Description: The Automated Intruder Analysis has been extended to include an Automated Ground Water Screening option. This option screens 825 radionuclides while rigorously applying the National Council on Radiation Protection (NCRP) methodology. An extension to that methodology is presented to give a more realistic screening factor for those radionuclides which have significant daughters. The extension has the promise of reducing the number of radionuclides which must be tracked by the customer. By combining the Automated Intruder Analysis with the Automated Groundwater Screening a consistent set of assumptions and databases is used. A method is proposed to eliminate trigger values by performing rigorous calculation of the screening factor thereby reducing the number of radionuclides sent to further analysis. Using the same problem definitions as in previous groundwater screenings, the automated groundwater screening found one additional nuclide, Ge-68, which failed the screening. It also found that 18 of the 57 radionuclides contained in NCRP Table 3.1 failed the screening. This report describes the automated groundwater screening computer application.
Date: October 31, 2005
Creator: Taylor, Glenn A. & Collard, Leonard, B.
Partner: UNT Libraries Government Documents Department

Next generation epics interface to abstract data.

Description: The set of externally visible properties associated with process variables in the Experimental Physics and Industrial Control System (EPICS) is predefined in the EPICS base distribution and is therefore not extensible by plug-compatible applications. We believe that this approach, while practical for early versions of the system with a smaller user base, is now severely limiting expansion of the high-level application tool set for EPICS. To eliminate existing barriers, we propose a new C++ based interface to abstract containerized data. This paper describes the new interface, its application to message passing in distributed systems, its application to direct communication between tightly coupled programs co-resident in an address space, and its paramount position in an emerging role for EPICS -- the integration of dissimilar systems.
Date: January 1, 2001
Creator: Hill, J. O. (Jeffrey O.) & Lange, R. (Ralph)
Partner: UNT Libraries Government Documents Department

Portable 3-D computed tomography system

Description: Through a Cooperative Research and Development Agreement between Los Alamos National Laboratory and HYTEC, Inc., a portable 3-D Computed Tomography (CT) system has been developed that dramatically reduces the overall complexity and time-to-completion for performing CT studies. The system incorporates an amorphous silicon flat-panel detector, coupled motion control and state of the art software to produce high quality CT results. All alignment, image calibration and radiation exposure monitoring is handled in software, thereby, eliminating the need for precise mechanical positioning during setup or a highly stable source of radiation. The image acquisition hardware occupies a minimal 30-inch x 48-inch footprint and is mounted on a portable cart for transportation between multiple X-ray sites. The software is built on the Windows NT/2K operating system for maximum flexibility in today's industry, and offers an unprecedented user interface designed for technicians and operators who have minimal computer training. Multiple reconstruction methods (parallel, fan and cone beam) are provided and can be run in a parallel-processed mode on any number of Windows NT/2K computers to decrease reconstruction time. Visualization software offers 2-D and 3-D viewing including slice animation and volume rendering of entire objects.
Date: June 1, 2001
Creator: Phillips, D. H. (David H.); Davis, A. W. (Anthony W.); Keating, S. C. (Scott C.) & Claytor, T. N. (Thomas N.)
Partner: UNT Libraries Government Documents Department

Selection and Implementation of a Replacement Cutting Tool Selection Application

Description: A new commercial cutting tool software package replaced an internally created legacy system. This report describes the issues that surfaced during the migration and installation of the commercial package and the solutions employed. The primary issues discussed are restructuring the data between two drastically different database schemas and the creation of individual component graphics.
Date: October 6, 2008
Creator: Rice, Gordon
Partner: UNT Libraries Government Documents Department

Recent results from the Berkeley 0.3-NA microfield exposure tool

Description: Operating as a SEMATECH resist test center, the Berkeley 0.3-NA EUV microfield exposure tool continues to play a crucial role in the advancement of EUV resists and masks. Here we present recent resist-characterization results from the tool as well as tool-characterization data. In particular we present lithographic-based aberration measurements demonstrating the long-term stability of the tool. We also describe a recent upgrade to the tool which involved redesign of the programmable coherence illuminator to provide improved field uniformity as well as a programmable field size.
Date: March 1, 2007
Creator: Naulleau, Patrick; Anderson, Christopher N.; Dean, Kim; Denham, Paul; Goldberg, Kenneth A.; Hoef, Brian et al.
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