Flexible Transport System Research Articles

21006 ピエゾフィルムを振動検知用ポイントセンサとして用いた柔軟搬送システムにおける運動と振動の制御(実システムのモデリングと制御(2):電磁力関連,OS2 実システムのモデリングと制御)

This paper deals with motion and vibration control for a flexible tower-like transportation system, using piezoelectric film senor In order to control the vibration of the transportation system with long distance moving, it is necessity to detect the vibration without limitation. For the propose, the piezoelectric film paste on the structure is used as the point sensor. Applying a lumped modeling method presented by Seto and LQI-based control system, two controllers are designed which achieves good performance for controlling motion and vibration in the flexible transportation system. Moreover, a possibility using the piezo film as a point sensor for vibration control is examined.

633 ピエゾフィルムを振動検知のセンサとして用いた柔軟な搬送システムの運動と振動の制御

This paper deals with motion and multi-modes vibration control of a flexible transportation system. In order to reduce a settling time from one position to another one, the vibration control is remarkably important on the transportation system. Since transportation system moves long distance, no limit in the measuring range of the sensor is required. For the purpose, piezoelectric films pasted on flexible structures are used as the point sensors to detect vibrations. To control the first two vibration modes, the reduced-order physical modeling method proposed by authors is applied and the control system is designed by LQ control approach. Control experiments demonstrate that the settling time is well shortened by controlling many-modes of vibration in addition to motion.

Longitudinal Vibration Modeling and Control of a Flexible Transporter System with Arbitrarily Varying Cable Lengths

We present a systematic procedure for deriving the model of a cable transporter system with arbitrarily varying cable lengths. The Hamilton principle is applied to derive the governing equations of motion. The derived governing equations are nonlinear partial differential equations. The results are verified using the Newton law. The assumed mode method is used to obtain an approximate numerical solution of the governing equations by transforming the infinite-dimensional partial differential equations into a finite-dimensional discretized system. We propose a Lyapunov controller, based directly on the governing partial differential equations, which can both dissipate the vibratory energy during the motion of the transporter and guarantee the attainment of the desired goal point. The validity of the proposed controller is verified by numerical simulation.

Vision based tracking control and obstacle avoidance of a mobile robot

In this work the application of vision based tracking control and obstacle avoidance of a mobile robot is introduced.The mobile robot is equipped with a controller embedded camera, PWM Modules, a PC104 with I/O module and an RF Modem. In order to let the vehicle to follow a given trajectory, a PC as master controller connected through an RF Modem.The instant position and orientation of the vehicle with respect to an assigned plane coordinate frame is detected by using the optical geometry.The complete system is thought to be used as a part of flexible transportation system in various operations, such as in factories, hospitals, fields, military objectives etc. The built up system can also be used in hazardous conditions or areas, such as nuclearplants, mined fields, slandered zones, where human safety is of great importance.

Motion and Multimode-Vibration Control of a Flexible Transportation System (2nd Report, Suppression of Uncontrolled Drumming Modes Using a Structural Modification Approach)

This paper deals with motion and vibration control for a flexible tower-like transportation system, taking account of uncontrollable vibration modes called drumming mode. When the transportation system is constructed symmetrically, these modes are appeared as uncontrollable ones. For controlling vibration of whole modes under consideration, a structural modification in the design stage is carried out. Applying a lumped modeling method presented by Seto and LQI-based control system, the controller is designed which achieves good performance for controlling motion and vibration in the flexible transportation system.

234 柔軟搬送システムの運動と振動の制御(位置決め制御,OS-2:運動と振動のモデリングと制御(1))

This paper deals with motion and vibration control for a flexible tower-like transportation system, taking account of uncontrollable vibration modes called drumming mode. When the transportation system is constructed symmetrically, these modes are appeared as uncontrollable ones. For controlling vibration of whole modes under consideration, a structural modification in the design stage is carried out. Applying a lumped. Modeling method presented by Seto and LQI-based control system, two controllers are designed which achieves good performance for controlling motion and vibration in the flexible transportation system.

Motion and Multimode-Vibration Control of a High Speed Transportation System (1st Report, Control of a Flexible Transportation System with Drumming Mode)

Motion and Multimode-Vibration Control of a High Speed Transportation System (1st Report, Control of a Flexible Transportation System with Drumming Mode)

214 大型軽量搬送システムの運動と振動の制御

214 大型軽量搬送システムの運動と振動の制御

164 柔軟搬送システムの運動と振動の制御

164 柔軟搬送システムの運動と振動の制御

Assembly by Nongrasping Manipulation

This paper deals with assembly and transportation of non-grasping manipulations, especially releasing. In releasing, a robot makes a part slide away on a plane. It has both advantages and disadvantages. Learning control using visual feedback is introduced so as to accommodate the uncertainty of the manipulation and environment. Experiments verifies that releasing is potent to construct a flexible transportation system. The research makes assembly more dexterous and flexible enough to make a Holonic Manufacturing System.

SERVICE TUNNEL TRANSPORT SYSTEM.

This paper presents the requirements and constraints for the design of vehicles used in the Channel Tunnel's service tunnel to provide transport for maintenance staff and emergency services. The following characteristics were chosen for the basic type of vehicle to be used in the service tunnel transport system (STTS): (1) it would be a rubber-tyred non-rail vehicle; (2) length 10.1m; (3) width 1.5m; (4) height 2.2m; (5) unladen weight 6000kg; (6) payload 2500kg, thus laden weight 8500kg; (7) maximum service speed 80kph; (8) engine 62kW indirect injection diesel; and (9) range 200km. The first line of the fleet has two fire-and-rescue vehicles, and the police-operated control and communications vehicle. The second line has two fire-and-rescue support vehicles, each able to carry up to 12 firemen. There are also two ambulance vehicles on each side, and spare emergency vehicles with additional vehicles for conveying maintenance equipment. Initially, the STTS fleet had 24 large vehicles and 15 small vehicles, which form a very flexible transport system. The vehicles are maintained mainly at the French terminal. For the covering abstract see IRRD 877203.

A flexible transport system for industrial environments using global sensor and navigation concepts

Abstract This paper presents new concepts for a flexible transport system for industrial environments. In contrast to autonomous mobile systems, carrying all necessary sensors and computers on-board, MONAMOVE uses a global off-carrier sensor system in combination with global navigation. First, the principal differences between local and global approaches for mobile vehicles are discussed focusing on the special demands of industrial environments. One long-term goal is the simultaneous usage of computer-controlled carriers and man-guided vehicles, e.g. fork trucks, in the same working space. Subsequently, an overview about the transport system under development in our lab is given. The two main modules — the navigator and the monitoring system — are explained in detail.

ADAPTIVE: A dynamically assembled protocol transformation, integration and evaluation environment

AbstractComputer communication systems must undergo significant changes to keep pace with the increasingly demanding and diverse multimedia applications that will run on the next generation of high‐performance networks. To facilitate these changes, we are developing A Dynamically Assembled Protocol Transformation, Integration and evaluation Environment (ADAPTIVE). ADAPTIVE provides an integrated environment for developing and experimenting with flexible transport system architectures that support lightweight and adaptive communication protocols for diverse multimedia applications running on high‐performance networks. Our approach employs a collection of reusable ‘building‐block’ protocol mechanisms that may be composed together automatically based upon functional specifications. The resulting protocols execute in parallel on several target platforms including shared‐memory and message‐passing multiprocessors. ADAPTIVE provides a framework for (1) determining the functionality of customized lightweight protocol configurations that efficiently support multimedia applications and (2) mapping this functionality onto efficient parallel process architectures.

Free-Ranging Vehicles with Minimal Space Expense as High Flexible Transport Systems

By using transport vehicles allowing omnidirectional movements, the users' demand for flexible and easily projectible means of transportation can be fulfilled. The high mobility of the vehicle immunizes the necessary space expense, allows an accurate sensor-guided positioning in front of conveyor stations and thus reduces efforts and costs for planning and installation of the plant as well as changes in the case of already existing plants. With the ISW transport system of “FLEXL”, which allows user programming of vehicle position and orientation in plant coordinates, new aspects of vehicle control as well as new functions of the superior control system at the example of the ISW-CIM-plant are discussed.

Inbucon finds the route for a flexible transport system

AN ‘INTELLIGENT’ transport system built for Normalair Garrett (NGL) by PE Inbucon under an ESPRIT project has been returned to the conveyor builders, Marwin Production Machines, for modification to bring it up to production capability. It will then be used by Marwin for demonstration purposes before going into service in one of NGL's product groups.