8results about "Internal feedback arrangements" patented technology

A system includes a non-transitory computer-readable medium configured to store a mapping between a set of subapertures and a plurality of adjustable optical elements. The system includes a user interface module configured to store properties of the set of subapertures and selectively update the mapping in response to user input. The system includes a command generation module configured to generate element commands for controlling the plurality of adjustable optical elements based on the properties of the set of subapertures. Generating an element command for a first element of the plurality of adjustable optical elements includes identifying an applicable subaperture for the first element, generating an initial command for the first element, and outputting the element command for the first element based on the initial command.

A system for controlling a flexible joint robot includes a control input dimension conversion part configured to receive a control input of a robot and convert the Cartesian coordinate system of the control input to the rotating workspace coordinate system; an entire flexible joint robot dynamics part configured to receive the control input and a disturbance and output a control output by multiplying the control input reflecting the disturbance by at least one determinant; and a disturbance observer configured to reflect the estimated disturbance in the control input by calculating an estimated disturbance obtained by estimating the disturbance, wherein the disturbance observer includes a mutual reaction force removal part including a determinant for removing mutual reaction force between joints of the robot; a low-pass filter; and an estimated-disturbance dimension conversion part.

A system includes a set of electrostatic actuators. Each electrostatic actuator of the set of electrostatic actuators includes a high-voltage side and a low-voltage side. The low-voltage side is configured to be driven by a time-varying voltage signal (TVVS). The system includes a set of drive-sense channels. A representative channel of the set of drive-sense channels includes a drive electrical link between (i) a corresponding drive circuit of a set of drive circuits and (ii) the high-voltage side of a corresponding electrostatic actuator of the set of electrostatic actuators. The representative channel is configured to carry, via the drive electrical link, a controllable drive voltage from the corresponding drive circuit to the high-voltage side of the corresponding electrostatic actuator. The representative channel includes a sense electrical link configured to carry a current generated by the TVVS to a sense-measurement circuit.

The embodiment of the application provides a galvanometer servo system decoupling feedforward compensation method and system based on a dwell index. The method comprises the following steps: a weighted Play operator network is used to extract a normalized shape factor, and the normalized shape factor is used to represent the geometric shape and path memory characteristics of the system hysteresis loop; an adaptive amplitude function is calculated based on the dwell index and a Stribeck model containing an empirical attenuation factor, wherein the dwell index is determined based on a speed threshold and an acceleration threshold criterion; a composite feedforward control law is constructed according to the normalized shape factor and the adaptive amplitude function, and a feedforward compensation amount is calculated based on the composite feedforward control law; and the feedforward compensation amount and the output of a PID feedback controller are added to obtain a control signal, which is used to drive a voice coil type galvanometer motor to operate. Based on this, the embodiment of the application can solve the problems of large commutation error and obvious hysteresis residual of the existing galvanometer servo system in low-speed reciprocating scanning.

This invention relates to the field of robotics, specifically to a method for online evaluation and closed-loop feedback control of construction robot operation quality. The method includes the following steps: operation data acquisition; operation quality evaluation, constructing a local continuous operation unit centered on the current sampling point, extracting the local quality deviation of the current sampling point and the connection deviation between the current sampling point and adjacent operation areas, jointly determining the local quality deviation and the connection deviation, and generating real-time operation quality evaluation results and deviation data for the construction robot; feedback control command generation; and closed-loop feedback dynamic execution. This invention, by constructing a local continuous operation unit centered on the current sampling point, extracting the local quality deviation and the connection deviation between adjacent operation areas, and jointly determining the two types of deviations, can consider both the local quality of the operation and the connection status of adjacent operation areas in the operation quality evaluation, thus improving the completeness of the operation quality evaluation.

The present invention presents a system that allows mixing in a controlled way the streams exported by two-phase or three-phase separators, allowing the management of the phases according to the processing needs of the SPUs. The main idea is that the outlet streams of the subsea separation modules can be routed to different SPUs in order to optimize the processing capacity of the surface plant.It is capable of manipulating in real time process parameters such as GLR (Gas-Liquid Ratio), or GOR (Gas-Oil Ratio) or Water Cut (amount of water in oil) to generate the multiphase streams required by each SPU, using the own autogenous pressure of the process to carry out this adjustment, that is, without the need for pressure raising systems or artificial lifting (pumps, compressors, gas lift, etc.) of the export streams of the system. This is possible by means of a crossflow injection control system between the phases. However, the possibility of using pressure raising systems (pumps, compressors, etc.) is not excluded, if the SPUs are at high distances, for example, and require the use of this device.