...and position control Author: Deepak Kumar Lab Partner: DE SILVA T C J Date: 4/24/2012 4:02 PM Lab TA: Reza Lab Section: L6 –Monday 6:30-9:00 PM Integrity Statement: I understand the importance of ethical behavior in engineering practice and the seriousness of plagiarism. I am pleased to confirm that this work is our own independent effort. All of the data processing and graph preparation is our own. We prepared the written text in this report independently and we did not copy the work of anyone else into our report. Signature #1: JEEVAN SUPARMANIAM Lab Manual & Title Sheet | | 5% | MATLAB Development | | 10% | Notebook Review | | 10% | Post Lab Oral Presentation | | 25% | Results | | 25% | Discussion of Results | | 15% | Quality | | 10% | Total Score | | 100% | Objectives Week 1 * To model DC motor velocity as first and second order systems and simulate with Simulink * To simulate PD closed loop controller using Simulink Week 2 * To develop an understanding of the basic Quanser Inc., QuaRC Software servo motor software and hardware setup and connections * To quantify the values of K and τ from the experimental data using the MATLAB curve fitting toolbox and from the time series graph * To develop an understanding of how the system responds to different input signals Week 3 (&4) * To study the transient characteristics of a typical second order system and evaluate model or system responses * To...
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...Power Control Unit, Hydraulic - Description Hydraulic power control units (typically referred to as PCUs) are used to position primary (or secondary) flight control surfaces. PCUs are a single assembly (i.e., single part number) that combines individual hydraulic components into an assembly. PCUs perform two critical functions: (1) they position the flight control surface in response to mechanical or electrical commands, and (2) they represent a principle structural element capable of withstanding flight loads and providing protection against flutter (unsteady, aerodynamic loads). The requirements of these two functions make PCU design a challenging task. At the heart of PCU is a servovalve and an actuator (servo actuator). The servovalve can be controlled by a flapper nozzle, jet pipe, solenoid, torque motor or mechanical linkage. Some PCUs contain only a servo actuator. However, PCUs often contain other components to meet performance and failure mode performance criteria. Other components typically found in PCUs are shutoff valves, pressure relief valves, input filter, check valves, and compensator. Another component that is often part of a PCU is one or more servos whose control is based on some performance criteria. These servos can be positioned electronically or by hydraulic pressure (where loss of hydraulic pressure allows a spring to position the servo). A simple PCU is shown in Figure 1. Figure 1 Simple PCU Diagram This PCU shows the pressure input going through...
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...Sliding Mode Controller Saurav Chanda1, Pranjal Gogoi2 1 Dept. of Electronics & Communication Engineering, Dibrugarh University Institute of Engineering & Technology Dibrugarh University, Assam, India 2 Dept. of Electronics & Communication Engineering, Dibrugarh University Institute of Engineering & Technology Dibrugarh University, Assam, India Abstract: This paper proposes an adaptive terminal sliding mode controller which combines adaptive control and sliding mode control to control a 2-link nonlinear robotic manipulator with uncertain parameters. We use an adaptive algorithm based on the concept of sliding mode control to alleviate the chattering phenomenon of control input. Adaptive laws are developed to obtain the gain of switching input and the boundary layer parameters. The stability and convergence of the robotic manipulator control system are guaranteed by applying the Lyapunov stability theorem. Simulation results demonstrate that the chattering of control input can be alleviated effectively. The proposed controller scheme can assure robustness against a large class of uncertainties and achieve good trajectory tracking performance. Keywords: Robotic manipulators, sliding mode control, adaptive law, Lyapunov stability theorem 1. Introduction A chattering free adaptive terminal sliding mode controller for uncertain systems is proposed in this paper. The actual control law is obtained by integrating the discontinuous derivative control signal and...
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...EXPERIMENT B Aim : To study level control using 1 – Element (Level) Single Loop PID. Control System : It consists of the following in feedback. LT11 - Level LIC11 - Loop 1, PID 1, of LIC/FIC11 LCY11, LCV11 - Control Valve at Inflow Pipe Special Remarks : LIC/FIC11 is in the 1 – Element position with Loop 1 in A mode. Procedures : 1. Pump P13 was switched OFF as there is no necessity to operate the product flow system. The heater was also turned OFF as there is no necessity for heating. 2. A final check was done to ensure that the instrument air supply was 25 psig (1.7 Barg), the overflow drain valve and the vent at tank T11 were opened. 3. Tank 12 was filled with water till its level reached the over-flow drain pipe outlet (D). 4. The main power supply switch at the Electrical Cubicle was turned ON. The control panel instrument lid up. 5. All controllers were set to Manual (Mode). The output (MV) of LIC11 was manually adjusted to about 55%. The output of TIC11 was manually adjusted to about 50%. The stem position was visually checked to ensure it is at the position of about 50%, with the positioner PP controlling. 6. Pump P12 was started and it was verified that the pump is pumping. The by-pass valve was shut and the rise of water in tank T11 was observed from the sight glass. 7. Pump P11 was started after the water level in tank T11 was about 50%. P11 was verified to be pumping through the heat exchanger...
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...2 Part A (a.) We first created the “trim” file to determine the required control (elevator and thurst setting) to achieve specific equilibrium flight by minimizing the left hand side of equations (2.5-34) which are equations for the time derivatives of the velocity, angle of attack, pitch rate, and pitch angle. The “transp” function is used in the “trim” file to determine the rate of changes for these specified controls. Once trimmed flight is achieved, the non-dimensional characteristics of this flight are used to determine the dimensional derivatives needed to set up the state space model for the trimmed flight. Once the dimensional derivatives are computed, the state space angle of attack, pitch rate, velocity, and pitch can be set up. Several characteristics of both the short period and phugoid of this state space model can be seen in Table 1. Table 1: A table of system characteristics for both the short term period and phugoid Characteristic | Short Period | Phugoid | Eigenvalues | -0.6252 +/- 1.3188i | -0.0021 +/- 0.0780i | Time Period (s) | 1.5995 | 486.9 | Frequency (s^-1) | 1.3188 | 0.078 | Settling Time (s) | 6.398 | 1947.6 | Period of Oscillation (s) | 4.7645 | 80.5 | Natural Frequency (s^-1) | 1.4594 | 0.0781 | Damping Ratio | 0.4284 | 0.0263 | Part B We were tasked with plotting the Argand diagrams associated with the individual phugoid and short-period modes. An argand diagram is a scaled representation of the eigenvectors, represented...
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...main purposes of an operating system? • To provide an environment for a computer user to execute programs on computer hardware in a convenient and efficient manner. • To allocate the separate resources of the computer as needed to solve the problem given. The allocation process should be as fair and efficient as possible. • As a control program it serves two major functions: (1) supervision of the execution of user programs to prevent errors and improper use of the computer, and (2) management of the operation and control of I/O devices 1.2 What are the main differences between operating systems for main frame computers and personal computers? Operating systems for batch systems have simple requirements than for personal computers. Batch systems do not have to be concerned with interacting with a user as much as a personal computer. As a result, an operating system for a PC must be concerned with response time for an interactive user. Batch systems do not have such requirements. A pure batch system also may have not to handle time sharing, whereas an operating system must switch rapidly between different jobs. 1.3. List the four steps that are necessary to run a program on a completely dedicated machine. (a. Reserve machine time. (b. Manually load program into memory. (c. Load starting address and begin execution (d. Monitor and control execution of program from console. 1.4 We have stressed the need for an operating system to make efficient use of the computing...
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...240 Week 1 Discussion Questions 1 and 2 CJS 240 Week 2 Checkpoint Delinquency Deterrence Response CJS 240 Week 2 Individual Assignment Theories CJS 240 Week 3 Checkpoint Sociological Theories Response CJS 240 Week 3 Discussion Questions 1 and 2 CJS 240 Week 4 Assignment Gender and Family CJS 240 Week 4 Checkpoint Case Study Critique CJS 240 Week 5 Checkpoint The Justice Systems CJS 240 Week 5 Discussion Questions 1 and 2 CJS 240 Week 6 Assignment Corrections and Treatment CJS 240 Week 6 Checkpoint Probation Presentation CJS 240 Week 7 Checkpoint Gang Development and Control CJS 240 Week 7 Discussion Questions 1 and 2 CJS 240 Week 8 Assignment Drug Czar Presentation CJS 240 Week 8 Checkpoint Drug Use and Delinquency Response CJS 240 Week 9 Capstone Discussion Question CJS 240 Week 9 Justice System Position Final Project Activity mode aims to provide quality study notes and tutorials to the students of CJS 240 ENTIRE COURSE in order to ace their studies. CJS 240 ENTIRE COURSE To purchase this visit here: http://www.activitymode.com/product/cjs-240-entire-course/ Contact us at: SUPPORT@ACTIVITYMODE.COM CJS 240 ENTIRE COURSE CJS 240 Week 1 Checkpoint Statistics CJS 240 Week 1 Discussion Questions 1 and 2 CJS 240 Week 2 Checkpoint Delinquency Deterrence Response CJS 240 Week 2 Individual Assignment Theories CJS 240 Week 3 Checkpoint Sociological Theories Response CJS 240 Week 3 Discussion Questions 1 and 2 CJS 240 Week 4 Assignment Gender and Family ...
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...1.0 Experiment 1: Effect of Controller Gain (P-value) Figure 1: Simulink setup for Experiment 1 Graph 1: Graph from value P = 0.005, I = 0.01 and D = 0 Graph 2: Graph from increasing value of P = 0.01 and fixed value of I = 0.01 and D = 0 Graph 3: Graph from increasing value of P = 0.02 and fixed value of I = 0.01 and D = 0 Graph 4: From combining Graph 1-3 to compare the result. From the simulation, the value of P in PID causes the graph change. Increasing the value of P makes the graph become more stable. (Graph 1 – Blue, Graph 2 – Green and Graph 3 – Red) 2.0 Experiment 2 – Effect of Integral Time (I-value) Figure 2: Simulink setup for Experiment 2 Graph 5: Graph from value P = 0.005, I = 0.01 and D = 0 Graph 6: Graph from decreasing value of I = 0.001 and fixed value of P = 0.05 and D = 0 Graph 7: Graph from decreasing value of I = 0.0005 and fixed value of P = 0.05 and D = 0 Graph 8: From combining Graph 5-7 to compare the result. From the simulation, the value of I in PID causes the graph change. Decreasing the value of I makes the graph become more stable. (Graph 5 – Blue, Graph 6 – Green and Graph 7 – Red) 3.0 Experiment 3 – Effect of Derivative Time (D-value) Figure 3: Simulink setup for Experiment 3 Graph 9: From combining the graph from the experiment to compare the result. From the simulation, the value of D in PID causes the graph change. Increasing the value of D makes the graph become more stable. (Blue – D = 0, Pink – D...
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...Nurse strategies that enhance students’ criticaltothinking, educators are continually challenged develop teaching problem-solving, and decision-making skills. Medicalsurgical nursing courses often require students to learn a large amount of material in a short time. Students frequently are overwhelmed with the amount and complexity of the material that is covered during each class meeting. Consequently, they may resort to memorizing facts instead of comprehending, applying, and transferring knowledge to practice. In addition, students rely on teachers to provide lecture notes and may not be adequately prepared to participate in class discussions. Case studies, which are an effective way of connecting critical thinking, problem solving, and decision-making to practice (Baumberger-Henry, 2003; Campbell, 2004), enhance students’ participation in class discussions. Conceptual models of nursing provide a unique body of knowledge that can be used to guide construction of case studies and enhance application of didactic course content to nursing practice. Students tend to undervalue the contributions of a nursing conceptual model to guide practice. By integrating a nursing conceptual model into the organization of course content and construction of case studies, students are exposed to how conceptual models can guide nursing practice. The purpose of this column is to explore the use of case studies for a senior level medical-surgical nursing course constructed within the context of...
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...Operating Systems I Mid-term Review and Study Guide Basic Concepts: What is an operating system? A program that acts as an intermediary between a user of a computer and the computer hardware - basic functions? 1.) OS is a resource allocator 2.) manages all resources 3.) decides between conflicting requests for efficient and fair resource use 4.) OS is a control program 5.) controls execution of programs to prevent errors and improper use of the computer 6.) a program running at all times on the computer, usually called the kernel 7.)everything else is either a a.) system program: associated with the OS but not part of the kernel b.) application program: not associated with the OS user/kernel modes of operation? 1.) The operating system must ensure correct operation of the computer system. To prevent user programs from interfering with the proper operation of the system, the hardware has two modes: user mode and kernel mode. Various instructions (such as I/0 instructions and halt instructions) are privileged and can be executed only in kernel mode. 2.) Kernel Mode In Kernel mode, the executing code has complete and unrestricted access to the underlying hardware. It can execute any CPU instruction and reference any memory address. Kernel mode is generally reserved for the lowest-level, most trusted functions of the operating system. Crashes in kernel mode are catastrophic; they will halt the entire PC. 3.) User Mode In User mode, the executing...
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...BASIC INSTRUMENTATION MEASURING DEVICES AND BASIC PID CONTROL Table of Contents Section 1 - OBJECTIVES 3 Section 2 - INSTRUMENTATION EQUIPMENT 7 2.0 INTRODUCTION 7 2.1 PRESSURE MEASUREMENT 7 2.1.1 General Theory 7 2.1.2 Pressure Scales 7 2.1.3 Pressure Measurement 8 2.1.4 Common Pressure Detectors 9 2.1.5 Differential Pressure Transmitters 11 2.1.6 Strain Gauges 13 2.1.7 Capacitance Capsule 14 2.1.8 Impact of Operating Environment 15 2.1.9 Failures and Abnormalities 16 2.2 FLOW MEASUREMENT 18 2.2.1 Flow Detectors 18 2.2.2 Square Root Extractor 25 2.2.3 Density Compensating Flow Detectors 29 2.2.4 Flow Measurement Errors 31 2.3 LEVEL MEASUREMENT 33 2.3.1 Level Measurement Basics 33 2.3.2 Three Valve Manifold 34 2.3.3 Open Tank Measurement 36 2.3.4 Closed Tank Measurement 36 2.3.5 Bubbler Level Measurement System 42 2.3.6 Effect of Temperature on Level Measurement 44 2.3.7 Effect of Pressure on Level Measurement 47 2.3.8 Level Measurement System Errors 47 2.4 TEMPERATURE MEASUREMENT 49 2.4.1 Resistance Temperature Detector (RTD) 49 2.4.2 Thermocouple (T/C) 52 2.4.3 Thermal Wells 54 2.4.4 Thermostats 55 2.5 NEUTRON FLUX MEASUREMENT 59 2.5.1 Neutron Flux Detection 59 2.5.2 Neutron Detection Methods 60 2.5.3 Start-up (sub-critical) Instrumentation 61 2.5.4 Fission neutron...
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...to get acquainted with the location, and the time to establish a rapport with the locals. Shooting early in the morning with the D80 left an immediate impression on me. There was limited light, and that was comprised of a mixture of natural and artificial light. A film camera in such a situation requires complicated use of filters, whereas the D80 was able to achieve accurate white balance and metering under mixed light sources and produce beautiful results. Y (Yves): I believe shooting in the cafe allowed m e t o c l e a r l y ex p r e s s m y f e e l i n g s a b o u t the location. I am always exploring how best to express myself based on the inspiration I draw from the actual scene. And for me, the light is the inspiration. I like to control the light in each shot, which of course includes capturing the mood of the natural light, while at times also taking advantage of reflected light or using flashes. The D80 produced images just as I envisioned them, performing perfectly throughout the trip. Images from the D80 are of the highest quality, and I can edit them freely after the shot. The D80 can even perform in-camera editing, which only adds to the creative possibilities and makes digital easier and more enjoyable for everyone. Anyone who takes photos understands the desire to capture precious moments the instant they unfold, and the need for a camera with the speed and precision to be always ready to shoot. Y: I wa s als o im p res s e d by the s p ee d an d...
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...Adoption of the Balanced Scorecard: A Contingency Variables Analysis Kevin Hendricks Richard Ivey School of Business University of Western Ontario Larry Menor Richard Ivey School of Business University of Western Ontario and Christine Wiedman* Richard Ivey School of Business University of Western Ontario September 2004 We thank Harpreet Hora for her research assistance. We also acknowledge the Social Sciences and Humanities Research Council for providing funding for this project. * Corresponding author. Richard Ivey Business School, University of Western Ontario, London, Ontario, N6A 3K7. Phone: (519) 661-8164. Fax: (519) 661-3959. E-mail: cwiedman@ivey.uwo.ca 1 Adoption of the Balanced Scorecard: A Contingency Variables Analysis ABSTRACT We examine the association between contingency variables and the adoption of a Balanced Scorecard (BSC). The contingency variables we examine include business-level strategy, firm size, environmental uncertainty, and investment in intangible assets. Utilizing both survey and archival data, collected as part of a mixed-methodology design, we find that BSC adoption is significantly related to business strategy, firm size, and environmental uncertainty. Specifically, BSC adopters are (1) more likely to follow a Prospector or Analyzer business strategy, (2) are significantly larger, and (3) exhibit significantly higher environmental uncertainty than non-adopters. We also examined the financial performance of BSC adopters prior...
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...service is the main mode of transportation in Chennai. By this service, public are able to travel to anywhere and any places in Chennai. This leads to increase in bus routes which cause confusion to bus users. Although, at present, many routing information systems have been implemented but none of them provide the passenger travel information that they require. As a consequence of the shortages of such significant information, the current bus information services cannot fulfil users need. Current bus information services are based on GPS and operated in licensed frequency band which requires a high implementation and operation cost, these systems are used to provide travel-time approximation only. This paper proposes a system, Real Time Empirical System of Bus Service that can provide valuable information not only bus routes, also provides information of buses based on destination to the passengers. This system is aimed to reduce the operative cost of the existing system. The implementation of Real Time Empirical System of Bus Service involves use of Zigbee and RFID communication technology. This system is operated in 2.4GHz which is ISM band and no external network backbone is required for transmission and reception. iii TABLE OF CONTENTS CHAPTER N o. TITLE ABSTRACT LIST OF FIGURES LIST OF ABBREVIATIONS 1. INTRODUCTION 1.1 EXISTING SYSTEM 1.2 DRAW BACKS IN EXISTING SYSTEM 1.3 PURPOSE OF THIS PROJECT 1.4 BENEFITS OF THE PROJECT 2. REAL TIME EMPIRICAL SYSTEM OF BUS SERVICE 2...
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...Study Guide for Windows Security Final IS3340 1. Many current operating systems actually implement microkernel architecture. Microkernel only implements the minimal required. Processes generally run in either user mode or supervisor mode. 2. The process of providing and denying access is called access control. Access control is multi step process starting with Identification and authentication. Three authentication types are type I, II, and III 3. User rights define the tasks that user is permitted to carry out, such as take ownership of objects or shutdown the computer. Permissions define what a user can do to a specific object such as read or delete the object. 4. This functionality has matured into a core Windows feature called, Active Directory this allows users and groups to be defined once and shared among multiple computers. 5. The main feature of Microsoft Active Directory is the ability to define identity and Authorization permission that can be shared among multiple computers within one or more domains. 6. The principal of providing the just the necessary access required to carry out a task is called the principal of least privilege or LUAs. 7. Access Models: Identification, Authentication, Authorization, ACL’s and Security Access Token (SAT). 8. Access Control List (ACL), Discretionary Access Control List (DACL), and Access Control Entry (ACE). 9. Access Models: Identification, Authentication, Authorization, ACL’s and Security Access Token (SAT). 10. cacls...
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