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A case study on automating a hot forge for manual and robotic operation

2013-06-05 00:00:00.0

From: Control and Automation Conference, Session 4: Robotics , 4-5 June 2013, Birmingham, UK

The following paper describes the planning and development of an Automated Robotic forging cell in the Advanced Forming Research Centre at University of Strathclyde. A key issue to be addressed in forge manufacturing is that of the variability introduced by manually controlled methods. Individual fore operators tend to use individualised technique which means that the output varies according to the speed of the operator, the amount of lubricant applied and leads to results which can be inconsistent. Automation of this process, as well as leading to increases in production volume additionally gives improvements quality and especially in consistency of output. For the research investigator the latter feature (related to stabilisation of experimental conditions) - means that the automated process can then itself be used as a process debugging tool, without the confounding that tends to obscure the process improvements obtainable from any particular change. Therefore the automated system itself can be used to diagnose the process. Where manufacturing operations consist of both manual and automated processes improvements can be reflected back from the automated to the manual operations in terms of for example, the application of lubricant.

Constrained synchronization control of networked nonlinear Euler-Lagrange systems

2013-06-05 00:00:00.0

From: Control and Automation Conference, Session 4: Robotics , 4-5 June 2013, Birmingham, UK

In this paper two control algorithms for constrained synchronization control of networked Euler-Lagrange (EL) systems are developed. The first proposed distributed control law requires full state feedback where boundedness of the control efforts are guaranteed for all initial system conditions. The second proposed control law is based on output feedback and does not require velocity measurements.

Simulation results for the state synchronization control of networked planar robots are reported to verify our theoretical analysis and to compare performance of our proposed synchronization controllers with other results that are avail able in the literature.

Efficient implementation of iterative inverse kinematics in real time control architecture

2013-06-05 00:00:00.0

From: Control and Automation Conference, Session 4: Robotics , 4-5 June 2013, Birmingham, UK

The paper proposes a procedure for the iterative computation
of a robot inverse kinematics that uses different algorithms in
synergy, so to obtain a singularity-robust and rapidly convergent
technique. The application of such a procedure allows the
creation of a unified version of the executable code for large
classes of industrial robots, with the possibility to introduce
new kinematic chains or more complex structures without the
need to entirely rewrite the code. The paper offers also some
guidelines about the software implementation and optimization
in the industrial environment, and it is completed by experimental
results where the procedure is applied to real industrial
robots.

Human-robot cooperation for error recovery in oil and gas applications

2013-06-05 00:00:00.0

From: Control and Automation Conference, Session 4: Robotics , 4-5 June 2013, Birmingham, UK

Robotics technology has transformed industrial
manufacturing to the extent that it is difficult nowadays to
imagine a modern production line without robots. With robots
being very well suited to perform repetitive routine tasks
which are unpleasant or dangerous for a human to do,
manufacturing a product, for example a car, just by manual
labour is neither efficient nor cost effective. Furthermore,
some of the tasks may require high repeatability precision
which industrial robots are designed for. Despite the long list
of benefits, robotic technology has not been widely spread in
all industries such as in the oil and gas inudstry. However,
this trend may now change as the worldâ€™s demand for fossil
fuels soars, and most of the key players of the industry are
looking into methods to improve and expand the production
efficiency as well as take care of arising health, safety and
environmental (HSE) issues. The robotic technology has the
potential to offer solutions to increase the automation of
physical tasks in the field while the human operators can
operate the overall integrated robotics system from a safe
control room away from hazardous and unpleasant areas. This
paper presents a novel approach to user interface based error
recovery. The approach has been implemented and tested as
part of an on-site robotics demonstrator at an onshore gas
processing plant.

Investigating inertial measurements using MEMS devices in train-borne automatic track condition monitoring applications

2013-06-05 00:00:00.0

From: Control and Automation Conference, Session 3: Instrumentation, control and asset management , 4-5 June 2013, Birmingham, UK

The majority of train-borne automatic track condition
monitoring systems in operation throughout the UK rail
infrastructure incorporate some form of inertial measurement
unit. The rate gyroscopes and accelerometers which make up
these units tend to be high value, relatively large and
sometimes difficult to acquire. This paper explores the
possibility of substituting readily available MEMS sensors
into existing systems, initially in order to reduce support costs
and improve spares availability. It is imagined that a
miniature MEMS based IMU with multiple redundant sensors
can be created in the long-term.

Inertial measurements in the vertical profile are selected as
the basis for a trial between a candidate MEMS device and
the standard fitment accelerometer. The specifications of the
measurement system are used to determine the minimum
performance requirements of the replacement accelerometer.
A suitable device is sourced and interfaced with the
measurement system by means of a low noise two-stage noninverting
operational amplifier circuit. Trial data is collected
from the same four mile section of track, recorded repeatedly
at constant speeds between 20mph and 90mph in 10mph
intervals, and the data is then analysed graphically and
statistically in order to determine the level of agreement
between the two sensor types. The trial MEMS accelerometer
is proven theoretically to be suitable for use with the current
measurement system down to speeds of 25mph. The practical
trial suffered from a compromised installation position but
still proved that the MEMS accelerometer shows good
agreement with the force-balance servo accelerometer,
particularly at speeds above 50mph. The data suggests that a
further trial with improved installation position would be
worth pursuing.

Performance and implementability comparison of event-sampling based control schemes

2013-06-05 00:00:00.0

From: Control and Automation Conference, Session 3: Instrumentation, control and asset management , 4-5 June 2013, Birmingham, UK

In the last years, several works have been presented that
address the study of the stability, analysis and control design
suitable for event-based control schemes. Those advances
have driven an impulse to the application of these control
strategies in real environments, allowing a control-action rate
reduction, while system stability is ensured and performance
specifications are met. In this work, the study of three
different event-based control schemes is presented, with the
aim of comparing obtained performances, design processes
and the implementability in real world applications. This
work evaluates the behavioural characteristics of the control
schemes: control rate and mean sampling time, system error
and sensitivity to small disturbances. In addition, the study
includes the sticking problem and the issues related to the
implementability of the different schemes considered.

The application of functional safety principles in offshore oil and gas production facilities, challenges and experiences of full and partial applications of IEC61511

2013-06-05 00:00:00.0

From: Control and Automation Conference, Session 3: Instrumentation, control and asset management , 4-5 June 2013, Birmingham, UK

Through the construction and operation of floating
hydrocarbon production facilities for a range of clients
worldwide, and therefore subject to differing regulatory
environments, SBM Offshore has gained experience of a
number of different approaches to process safety. These
range from full implementation of IEC61511 Functional
Safety Management (FSM) to projects where the design basis
does not require any application of IEC61511. Increasingly
clients have imposed hybrid applications where certain
specified aspects of FSM are applied.

SBM Offshore operates the worldâ€™s largest fleet of Floating
Production Storage and Offloading vessels (FPSOs),
managing around 4% of global offshore oil production. SBM
is an Engineering Procurement Construction Installation and
Operation (EPCIO) company, which provides the company
with a unique insight into all phases of project lifecycle. This
paper explores the challenges of different aspects of FSM and
highlights some of the most beneficial aspects.

Validation of a quad-rotor helicopter matlab/simulink and solidworks models

2013-06-05 00:00:00.0

From: Control and Automation Conference, Session 4: Robotics , 4-5 June 2013, Birmingham, UK

Over the years, quad-rotor helicopters have generated considerable interest in the community of Intelligent Control. This can be linked to the fact that they are simple in construction and very agile. Control of the vehicle is achieved by varying the lift forces of the four rotors, which depend on the flow conditions around the propellers and the propeller speeds. In this paper, computations performed with an analytical model of the quad-rotor built in Matlab/Simulink are compared with those obtained using CFD (Computational Fluid Dynamics) on a 3-D Solidworks model of the same helicopter. The two are also compared with results from real experiments, with a general agreement between the numerical and experimental results, which can be judged satisfactory. This is enough to validate the use of the simulation results for similar future analysis and prediction of the helicopter movements and effects of wind flow on it.

ABB process automation integrated process and power automation

2013-06-04 00:00:00.0

From: Control and Automation Conference, Session 2: Power Systems, 4-5 June 2013, Birmingham, UK

This paper presents the new Robust Nonlinear Fuzzy Control
(RNFC) problem for uncertain nonlinear systems and also
presents a Takagi-Sugeno (TS) fuzzy model-based maximum
power control approach. First, the maximum-power-voltagebased
control scheme and direct maximum power control
scheme are introduced for the maximum power point tracking
(MPPT). Furthermore, the MPPT robustness is also discussed
to cope with varying atmosphere and system uncertainties.
Second, the nonlinear system with parametric uncertainties is
represented by the TS fuzzy model. Next, in order to reduce
the number of measured signals, a TS fuzzy observer is
established for state feedback. Then, the concept of Parallel
Design Compensation (PDC) is employed to design RNFC
from the TS fuzzy models. The sufficient conditions are
formulated in the format of Linear Matrix Inequalities (LMIs)
to obtain the observer and controller gains. The effectiveness
of the proposed controller design methodology is finally
demonstrated through a photovoltaic panel array to maximize
the PV power.

Control and instrumentation of the ITER coil power supply system

2013-06-04 00:00:00.0

From: Control and Automation Conference, Session 2: Power Systems, 4-5 June 2013, Birmingham, UK

ITER is a large-scale nuclear fusion scientific experiment; the first to produce net energy. Its control and instrumentation will be complex, unique and challenging. Integrated and automated operation will require coordination of around 220 semi-autonomous plant system instrumentation and controls (I and C). The general design philosophy and architecture of the ITER I and C system is described, designed in two distinct horizontal layers; the central layer that ensures coordination and the local layer dedicated to the individual control of each plant system.

Specifically, the I and C of the ITER coil power supply system is described, this system will be the main actuators to control the plasma shape and position. Unlike past and present fusion experiments operating in tens of seconds pulse mode, ITER will have plant systems operating in steady state mode with plasma pulse lengths running from a few hundred seconds to ultimately some tens of minutes. The paper highlights the challenges, techniques and strategies of the distributed control systems.