This paper describes the replacement of a controller for a programmable universal machine for assembly (PUMA) 512 robot with a newly designed PC based (open architecture) controller employing a real-time direct contro...This paper describes the replacement of a controller for a programmable universal machine for assembly (PUMA) 512 robot with a newly designed PC based (open architecture) controller employing a real-time direct control of six joints. The original structure of the PUMA robot is retained. The hardware of the new controller includes such in-house designed parts as pulse width modulation (PWM) amplifiers, digital and analog controllers, I/O cards, signal conditioner cards, and 16-bit A/D and D/A boards. An Intel Pentium IV industrial computer is used as the central controller. The control software is implemented using VC++ programming language. The trajectory tracking performance of all six joints is tested at varying velocities. Experimental results show that it is feasible to implement the suggested open architecture platform for PUMA 500 series robots through the software routines running on a PC. By assembling controller from off-the-shell hardware and software components, the benefits of reduced and improved robustness have been realized.展开更多
Design of general multivariable process controllers is an attractive and practical alternative to optimizing design by evolutionary algorithms (EAs) since it can be formulated as an optimization problem. A closed-loop...Design of general multivariable process controllers is an attractive and practical alternative to optimizing design by evolutionary algorithms (EAs) since it can be formulated as an optimization problem. A closed-loop particle swarm optimization (CLPSO) algorithm is proposed by mapping PSO elements into the closed-loop system based on control theories. At each time step, a proportional integral (PI) controller is used to calculate an updated inertia weight for each particle in swarms from its last fitness. With this modification, limitations caused by a uniform inertia weight for the whole population are avoided, and the particles have enough diversity. After the effectiveness, efficiency and robustness are tested by benchmark functions, CLPSO is applied to design a multivariable proportional-integral-derivative (PID) controller for a solvent dehydration tower in a chemical plant and has improved its performances.展开更多
By lifelogging, we understand a specific, very recent phenomenon of digital technology, which falls within the range of practices of the quantified self. It is a complex form of self-management through self-monitoring...By lifelogging, we understand a specific, very recent phenomenon of digital technology, which falls within the range of practices of the quantified self. It is a complex form of self-management through self-monitoring and self-tracking practices, which combines the use of wearable computers for measuring psycho-physical performances through specific apps for the processing, selecting and describing of the data collected, possibly in combination with video recordings. Given that lifelogging is becoming increasingly widespread in technologically advanced societies and that practices related to it are becoming part of most people＇s everyday lives, it is more important than ever to gain an understanding of the phenomenon. In this paper, I am interested in particular in exploring the issue of the transformations in the perception, comprehension, and construction of self, and hence in subjectification practices, deriving from the new digital technologies, and especially lifelogging.展开更多
文摘This paper describes the replacement of a controller for a programmable universal machine for assembly (PUMA) 512 robot with a newly designed PC based (open architecture) controller employing a real-time direct control of six joints. The original structure of the PUMA robot is retained. The hardware of the new controller includes such in-house designed parts as pulse width modulation (PWM) amplifiers, digital and analog controllers, I/O cards, signal conditioner cards, and 16-bit A/D and D/A boards. An Intel Pentium IV industrial computer is used as the central controller. The control software is implemented using VC++ programming language. The trajectory tracking performance of all six joints is tested at varying velocities. Experimental results show that it is feasible to implement the suggested open architecture platform for PUMA 500 series robots through the software routines running on a PC. By assembling controller from off-the-shell hardware and software components, the benefits of reduced and improved robustness have been realized.
文摘Design of general multivariable process controllers is an attractive and practical alternative to optimizing design by evolutionary algorithms (EAs) since it can be formulated as an optimization problem. A closed-loop particle swarm optimization (CLPSO) algorithm is proposed by mapping PSO elements into the closed-loop system based on control theories. At each time step, a proportional integral (PI) controller is used to calculate an updated inertia weight for each particle in swarms from its last fitness. With this modification, limitations caused by a uniform inertia weight for the whole population are avoided, and the particles have enough diversity. After the effectiveness, efficiency and robustness are tested by benchmark functions, CLPSO is applied to design a multivariable proportional-integral-derivative (PID) controller for a solvent dehydration tower in a chemical plant and has improved its performances.
文摘By lifelogging, we understand a specific, very recent phenomenon of digital technology, which falls within the range of practices of the quantified self. It is a complex form of self-management through self-monitoring and self-tracking practices, which combines the use of wearable computers for measuring psycho-physical performances through specific apps for the processing, selecting and describing of the data collected, possibly in combination with video recordings. Given that lifelogging is becoming increasingly widespread in technologically advanced societies and that practices related to it are becoming part of most people＇s everyday lives, it is more important than ever to gain an understanding of the phenomenon. In this paper, I am interested in particular in exploring the issue of the transformations in the perception, comprehension, and construction of self, and hence in subjectification practices, deriving from the new digital technologies, and especially lifelogging.
