Ce couplage vecteur/capteur définit l’asservissement de la trajectoire un PID. Un exemple de trajectoire fournie par cet algorithme est représenté sur .. de la commande d’accélération µ en fonction de la vitesse en cours. DSC PID controllers tuning PID parameters M. Rivoire and J. L. Ferrier, ‘Cours d’automatique,’, Tome 2: ‘Asservissement régulation commande analogique’. Some DSC calorimeters, such as the model DSC , built by the society Setaram, allow the user to set the temperature programming parameters. Usually .
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Aversive/Asservissement Microb 2008
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Title Creator Subject Faculty Asservjssement.
Record 1 of 1. Ice construction has been used for practical and artistic purposes for thousands of years.
In the past few decades, computer numerical control CNC ice sculpting has become a well-established industry, with many companies producing ice sculptures for corporate events.
This thesis presents a novel form of ice construction, namely, 3D ice printing, also known as rapid freeze prototyping. Rapid prototyping is an interesting alternative technique for ice construction, since it can be used to produce many objects that would be difficult or pdi to build with manual or CNC techniques.
A robot-assisted rapid prototyping system has been produced by retrofitting an Adept Cobra robot.
Lebanese University – Faculty of Science
This thesis first provides an overview of the system; then, several of the innovative control algorithms that have been implemented are reported. Most of the retrofitting work has been on the software side; several innovative algorithms have been produced, which represent the main contributions to knowledge of this thesis. A part-slicing algorithm produces deposition paths from CAD parts; compared to the established algorithms on which it is based, computational efficiency has been greatly improved.
A trajectory control algorithm produces aeservissement for controlling the Cobra system during part construction. This algorithm is unique because of its simple, robust approach to the time-optimal trajectory planning problem, and its independence of a dynamic model of the robotic system.
A geometric feedback system has been developed that detects and corrects geometry errors during part construction. An integral component of this system is a three-dimensional spatial PID controller, produced by transforming the traditional PID controller, which is one-dimensional in time.
Time-varying flow control has also been developed and implemented, as both a necessary feature to complement variable-speed deposition paths and a means to correct part xours detected with the geometric feedback algorithm.
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All of the algorithms described above have been integrated to produce the Cobra software implementation. Many of the innovative techniques developed are applicable to other rapid prototyping systems; additionally, some are applicable to other fields of research, including mapping, manufacturing, and signal processing.
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