Academic literature on the topic 'Digital control development'

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Journal articles on the topic "Digital control development"

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SHILOV, Konstantin Yurievich. "BASIC DEVELOPMENT DIRECTIONS OF MARINE DIGITAL CONTROL SYSTEMS." Standards and Quality, no. 9 (2021): 96–100. http://dx.doi.org/10.35400/0038-9692-2021-9-96-100.

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TANAKA, Hidetake, Naoki ASAKAWA, Toshihiko SHINTANI, and Masatoshi HIRAO. "Development of a Forging Type Rapid Prototyping System : Tool Posture Control to Improve the Forming Property(Digital design and digital manufacturing)." Proceedings of International Conference on Leading Edge Manufacturing in 21st century : LEM21 2005.1 (2005): 51–56. http://dx.doi.org/10.1299/jsmelem.2005.1.51.

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Jiang, Xiao Lian, Xiu Ling Wei, and Xue Yan Lv. "Analysis on Aeroengine Digital Electronic Control." Applied Mechanics and Materials 602-605 (August 2014): 1173–76. http://dx.doi.org/10.4028/www.scientific.net/amm.602-605.1173.

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Control technology of aeroengine has made remarkable development in recent 20 years. In order to meet the needs of high performance, high precision propulsion system control, based on computer technology, microelectronic technology and control theory, the control technology is from traditional hydraulic mechanical control to digital electronic control. Digital electronic control has been a huge success from limited function to the full authority control and from the development test to practical application. In the future it will have more widely application and development in the field of military and civilian aircraft control. This paper mainly discusses the full authority digital electronic control. It shows that the digital electronic engine control has wide application prospect and high application value.
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Chen, G. P., O. P. Malik, and G. C. Hancock. "A Real-Time Digital Control Environment for Research and Development of Digital Controllers." International Journal of Electrical Engineering & Education 31, no. 4 (October 1994): 296–307. http://dx.doi.org/10.1177/002072099403100402.

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A real-time digital control environment for research and development of digital controllers A real-time digital control environment, based on Intel iSBC386/21, to implement digital controllers is described. A human-machine interface package developed on a PC AT computer allows the operator to monitor the controller under development. Illustrative results for an adaptive power system stabilizer implemented and tested in this environment are given.
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Smirnova, Elena, and Anna Tatarenko. "The development of tax control in the digital economy." Известия Дальневосточного федерального университета. Экономика и управление, no. 3 (2018): 149–55. http://dx.doi.org/10.24866/2311-2271/2018-3/149-155.

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Tatuev, A. A., N. I. Ovcharova, O. N. Galyuta, and M. A. Zalevskaya. "Modern financial control: Challenges, contradictions, and digital development tools." Finance and Credit 24, no. 12 (December 24, 2018): 2661–77. http://dx.doi.org/10.24891/fc.24.12.2661.

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MAKIHARA, Kanjuro, Shigeru SHIMOSE, Shinsuke TAKEUCHI, and Junjiro ONODA. "Development of Self-Powered Digital System for Vibration Control." TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 78, no. 789 (2012): 1440–50. http://dx.doi.org/10.1299/kikaic.78.1440.

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Daniyal, Hamdan, Lawrence J. Borle, Herbert H. C. Iu, and Eric Lam. "Design and Development of Digital Ramptime Current Control Technique." IEEE Transactions on Industrial Informatics 9, no. 2 (May 2013): 992–1002. http://dx.doi.org/10.1109/tii.2012.2215334.

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Heyek, H., and M. Saim. "Development of a digital reactor control and protection system." Reliability Engineering & System Safety 27, no. 2 (January 1990): 257–66. http://dx.doi.org/10.1016/0951-8320(90)90058-u.

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Yan, T., B. E. Jones, R. T. Rakowski, M. J. Tudor, S. P. Beeby, and N. M. White. "Development of Metallic Digital Strain Gauges." Measurement and Control 37, no. 7 (September 2004): 214–16. http://dx.doi.org/10.1177/002029400403700705.

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Dissertations / Theses on the topic "Digital control development"

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Slater, Howard James. "Real time emulation environment for digital control development." Thesis, University of Newcastle Upon Tyne, 1997. http://hdl.handle.net/10443/925.

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Simulation is a powerful tool for developing electric drive systems. Simulations allow the designer to experiment with control algorithms and hardware systems in a safe environment. To this end simulation is becoming increasingly popular. On'-line simulation does have its limitations in that the controller developed during the simulation period has eventually to be transferred to the target processor which will operate in the actual drive system. If, however, a real-time simulation environment could be realised, then the actual controller running in the actual target processor could be included in the simulation. Therefore no translation of code would be required once the controller had been developed and tested within the simulation. This would obviously lead to a reduction in development time and eliminate any possibility of introducing errors due to the translation between the simulated and actual controllers. This thesis describes the development of such a system using a multiple digital signal processing environment. The real-time simulated drive is operated in parallel with an experimental drive to allow a direct comparison between the two. The ability of the multiple processing system to operate in real-time has allowed the whole concept of simulation to be taken a stage further by the development of a real-time power level simulator. This simulator is capable of emulating a machine and load in real-time with real level of voltage and current. It is designed to replace a real machine during the development and testing stages of drive manufacture. This Virtual Machine is a controllable source/sink which is driven by the real-time simulation, and because of this the Virtual Machine takes on the characteristics of any choice of model within the real-time simulation. Moreover, because of its ability to handle bi-directional power flow, the Virtual machine can be programmed to emulate motors or generators. The Virtual Machine also includes the emulation of loads, thus making it extremely flexible and of interest to applications such as machine tools, electric vehicles, and wind generators, to name but a few.
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D'Amelio, Jeffrey David. "Development of a Digital Controller for Motor Control Experiments in the EE472 Lab." DigitalCommons@CalPoly, 2014. https://digitalcommons.calpoly.edu/theses/1339.

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A digital motor controller for student lab use is designed, built, and tested. The controller uses an encoder for position measurement, and an H-bridge to drive the electromechanical plant. A user interface is created to enhance usability of the device. The user interface is able to display key parameters of the control algorithm as well as the state of the system. It is also used to modify the gains and sample rate of the control algorithm. The design of the system is refined, and 10 units are built for the EE472 Digital Controls Lab. The lab manuals for the first 4 experiments are revised to match and support the new system. The possible future for the project is described with some suggestions for improving the system.
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Doonan, Andrew Francis. "The development, evaluation and implementation of true digital control." Thesis, Durham University, 1997. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.361882.

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Luo, Gang. "Development of a Digital Desk for Power Plant Control Room Operators." Thesis, Linköpings universitet, Institutionen för datavetenskap, 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-62353.

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Multi-touch technology and digital tabletops have been used in different fields. They provide a natural way of interaction with computers through gestures. In this report, we present a digital desk for power plant control rooms aimed at visualizing the power grid status. The thesis reports about the development of this desk that comprised field studies, use cases and requirements identification, low fidelity prototyping, and software development. A final evaluation of the design indicated that digital tabletops can be valuable for control room operators since they can enhance learning and communication among the collaborating operators. The work was done at ABB Corporate Research in Sweden.
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Ariga, Eiji, Shigeki Ito, Shizuhiko Deji, Takuya Saze, and Kunihide Nishizawa. "Development of dosimetry using detectors of diagnostic digital radiography systems." American Association of Physicists in Medicine, 2007. http://hdl.handle.net/2237/8818.

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Jooste, Charl Roelof. "Development of a generic digital controller for power electronic applications." Thesis, Cape Peninsula University of Technology, 2011. http://hdl.handle.net/20.500.11838/2210.

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Thesis (MTech (Electrical Engineering)))--Cape Peninsula University of Technology, 2011.
This thesis presents an investigation into the generic tools, hardware and firmware, involved in power electronic converter control and feedback. The aim was to determine the optimal controller architecture through research of existing controllers. As soon as the architecture was established, design of the controller commenced. Explanations for the various components selected were provided. The design considerations when designing a printed circuit board (PCB) with mixed signals was also presented. The theory behind the control of a multicell converter as well the practical implementation of the control scheme in firmware was presented.
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Yuan, QingHui, and Aaron Jogada. "Architecture, Control and NVH Development of Digital Hydraulics for Off-Highway Vehicle Applications." Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2016. http://nbn-resolving.de/urn:nbn:de:bsz:14-qucosa-199396.

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Digital hydraulics is one of promising technologies having a huge potential to significantly improve energy efficiency in the fluid power industry. In this paper, we present a digital hydraulics solution for mobile market with a large ammount of energy usage by hydraulic components and systems. Specifically, a novel hydraulic architecture, Multiplex Digital Valve (MDV) system that employs digital valves to meet multiple service pressure/flow requirement in off highway vehicles, is introduced. With MDV being integrated in an execavator, signficant hydraulic power saving have been validated compared to the baseline machine with the negative flow control (NFC) architecture. In addition, considering noise is still a critical hurdle for digital hydraulics to be adoped, we develop several noise reduction methods that have been evaluated in simulation environment and implemented in the above MDV. The sound pressure measured from the retrofitted MDV solution with the NVH treatment in the excavator has been improved signficantly over the untreated system such that it is nearly comparable to the baseline machine. The paper also briefly presents the sound quality study for better understanding of human perception and acceptance to nonconventional sound.
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Merz, Paul V. "Development and testing of the digital control system for the Archytas Unmanned Air Vehicle." Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 1992. http://handle.dtic.mil/100.2/ADA261656.

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Nsumbu, Cassandra Daviane. "Development of a soft-core based power electronic conversion controller." Thesis, Cape Peninsula University of Technology, 2014. http://hdl.handle.net/20.500.11838/2379.

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Thesis (MTech (Electrical Engineering))--Cape Peninsula University of Technology, 2014.
The application of digital control techniques has become dominant in power electronics owing to several advantages they present, when compared to analogue solutions. Their development is based on the use of microprocessors and microcontrollers, such as Application Specific Integrated Circuit (ASIC), Digital signal processors (DSP), Field Programmable Gate Arrays (FPGA), or a combination of these devices. This thesis presents an investigation of a soft-core based FPGA control system as a solution for power electronic applications. The aim was the development and implementation of a conversion controller, which purpose is to supply control inputs in the form of digital Pulse Width Modulation (PWM) signals, to a number of power electronic applications, such as single half and full bridge DC-DC converters, three phase and multicell inverters. The PWM control technique is achieved via their power semiconductor switching devices. These PWM control signals are necessary for the high frequency conversion of an analog input voltage (AC, DC or unregulated) to an analog output voltage of another level (AC or DC). This was intended to be achieved by exploiting and combining the advantages that FPGA and embedded processors provide such as high reconfigurability and multipurpose ability. This controller’s digital outputs, namely PWM switching signals, can be directly delivered to an analog signal amplification circuit to create an adequate voltage level before being processed by the converters’ switches.
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Uddin, Md Mehrab. "Development of Advanced Process Control for Controlling a Digital Twin as a Part of Virtual Commissioning." Thesis, Högskolan i Gävle, Elektronik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:hig:diva-37079.

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Over the last few decades, the complexity and variety of automation systems have increased dramatically. Commissioning has grown more and more critical for the entire industry. Conventional commissioning is time-consuming and expensive. It's always been a challenge in manufacturing to put new designs into production or implement new technologies, control codes, or tactics. In Virtual Commissioning (VC), control programs of the physical system's Digital Twin (DT) can be validated in Software-in-the-Loop (SIL) before the actual commissioning. The emergence of new VC tools and methods has become a tremendous advantage, bringing the values of shorter duration, flexibility, and lower risks to the commissioning process. In this thesis, advanced process control was developed using the software Matlab and Simulink in conjunction with the engineering tools S7-PLCSIM Advanced and STEP 7 TIA Portal to conduct VC. A VC approach with four key steps is taken to evaluate the possibility of validating advanced process control. The steps are modeling DT of a rolling mill, model-based control design, simulation model development in Simulink, communication between the simulation model and the PLC program using S-7 TIA Portal, and PLCSIM Advanced. Also, a simulated Human-Machine Interface was designed to operate and visualize the process. VC of the rolling mill process was verified and validated by Model-in-the-Loop (MIL) and SIL simulation. The simulation gives satisfactory results as both MIL and SIL show identical outputs of the process.
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Books on the topic "Digital control development"

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Ferraby, Lyn. Change control during computer systems development. New York: Prentice Hall, 1991.

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Mackall, Dale A. Development and flight test experiences with a flight-crucial digital control system. [Washington, DC]: National Aeronautics and Space Administration, Scientific and Technical Information Division, 1988.

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Corder, Colin R. Taming your company computer: How to control systems development without understanding computers. London: McGraw-Hill, 1989.

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Corder, Colin. Taming your company computer: How to control systems development without understanding computers. London: McGraw-Hill, 1989.

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Petrova, Inga. Digital technologies as a financial control tool. ru: INFRA-M Academic Publishing LLC., 2021. http://dx.doi.org/10.12737/1234413.

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The textbook reveals the concept and meaning of digital technologies, the legal nature of information interaction in the implementation of control measures based on general theoretical concepts and regulatory legal acts. Special attention is paid to the types of information systems used in the control process in the financial and budgetary sphere. The necessity of creating information systems based on international experience, global indices and rules of the Organization for Economic Cooperation and Development (OECD) is justified. The article defines the specific characteristics of the state information systems used in the control (monitoring) in the financial and budgetary sphere, and also considers the subsystems that make up the state integrated information system "Electronic Budget" and other information systems in the information space of the Russian Federation. The article analyzes interdepartmental information interaction and digital methods that ensure the protection of information in the course of financial control. For graduate students, postgraduates and teachers of law and non-legal universities, as well as for practitioners.
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Merz, Paul V. Development and testing of the digital control system for the Archytas Unmanned Air Vehicle. Monterey, Calif: Naval Postgraduate School, 1992.

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Kempel, Robert W. Flight control systems development and flight test experience with the HiMAT research vehicles. [Washington, DC]: National Aeronautics and Space Administration, Scientific and Technical Information Division, 1989.

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Kempel, Robert W. Flight control systems development and flight test experience with the HiMAT research vehicles. Edwards, Calif: Dryden Flight Research Facility, 1988.

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Koert, Robinus Gerardus van. Electronic media in rural development: Individual freedoms to choose versus politics of power and control : case studies on Vietnam, Indonesia and Peru. [Amsterdam: Universiteit van Amsterdam, 2001.

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FGBOU, VO. Digital analytics and financial security control of socially significant organizations. ru: INFRA-M Academic Publishing LLC., 2022. http://dx.doi.org/10.12737/1863937.

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The monograph is devoted to the formation of the concept of digital financial security analytics. The use of the digital environment and big data analysis tools in the system of monitoring sectoral risks and monitoring the activities of socially significant organizations from the position of the ESG strategy is disclosed. At the same time, financial security is considered as an aggregated result of the action of economic, environmental and social factors in a rapidly changing economy. It covers several key areas that make it possible to digitalize and improve the effectiveness of monitoring the activities of socially significant organizations in a complex: the development of the conceptual apparatus of socially significant business; analytical tools for assessing and forecasting financial security risks based on the concept of sustainable development; standardization of risk management. For students, postgraduates, teachers, as well as for the professional development of managerial personnel in business and government structures.
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Book chapters on the topic "Digital control development"

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Lee, Edward A. "Are We Losing Control?" In Perspectives on Digital Humanism, 3–7. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-86144-5_1.

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AbstractThis chapter challenges the predominant assumption that humans shape technology using top-down, intelligent design, suggesting that technology should instead be viewed as the result of a Darwinian evolutionary process where humans are the agents of mutation. Consequently, we humans have much less control than we think over the outcomes of technology development.
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Khabib, Marina D., Marina Y. Teplyakova, and Aigul K. Bekkhozhaeva. "Information Analytical Support of Analysis of Digital Economy Development." In Studies in Systems, Decision and Control, 299–308. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-56433-9_32.

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Kamchatova, Ekaterina Yu, Vladislav A. Chashchin, and Zhao Dong. "Development of Urban Infrastructure Through the Introduction of Digital Technology." In Studies in Systems, Decision and Control, 159–67. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-56433-9_18.

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Bardina, Irina V. "Development of Accounting and Control in the Digital Economy." In Lecture Notes in Networks and Systems, 1328–37. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-69415-9_146.

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Mahalina, Oksana M., Viktor N. Mahalin, and Yuriy Yu Zaets. "Digital Economy and Financial Marketing: Mutual Influence and Ways of Development." In Studies in Systems, Decision and Control, 1465–73. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-56433-9_152.

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Kolobkova, Valentina A., Aleksey A. Romanov, and Elena A. Frolova. "Digital Technologies in the Hotel Industry: New Prospects for Sustainable Development." In Studies in Systems, Decision and Control, 387–94. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-56433-9_41.

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Niyazbekova, Shakizada U., Luiza P. Moldashbayeva, Bakhytzhamal A. Zhumatayeva, Tatiana M. Mezentseva, and Larisa V. Shirshova. "Digital Economy Development as an Important Factor for the Country’s Economic Growth." In Studies in Systems, Decision and Control, 361–66. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-56433-9_38.

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Russell, Stuart. "Artificial Intelligence and the Problem of Control." In Perspectives on Digital Humanism, 19–24. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-86144-5_3.

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AbstractA long tradition in philosophy and economics equates intelligence with the ability to act rationally—that is, to choose actions that can be expected to achieve one’s objectives. This framework is so pervasive within AI that it would be reasonable to call it the standard model. A great deal of progress on reasoning, planning, and decision-making, as well as perception and learning, has occurred within the standard model. Unfortunately, the standard model is unworkable as a foundation for further progress because it is seldom possible to specify objectives completely and correctly in the real world. The chapter proposes a new model for AI development in which the machine’s uncertainty about the true objective leads to qualitatively new modes of behavior that are more robust, controllable, and deferential to humans.
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Panova, Ekaterina A., Anastasia V. Kozhanova, and Arsen A. Tilov. "The Influence of Digital Technologies’ Development on Financing of Small Companies and Startups." In Studies in Systems, Decision and Control, 23–31. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-56433-9_3.

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Semenov, Igor V. "Marketing Strategies of the Company Development within the Transition to a Digital Economy." In Studies in Systems, Decision and Control, 1373–83. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-56433-9_143.

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Conference papers on the topic "Digital control development"

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Aristova, Natalia, and Valentin Chadeev. "Digital Methods for Control Adaptive Production." In 2022 15th International Conference Management of large-scale system development (MLSD). IEEE, 2022. http://dx.doi.org/10.1109/mlsd55143.2022.9934672.

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SHIBATA, KATSUHEI, and HIDEAKI OHMIYA. "The T-2 control configured vehicle development, integration and flight test." In Digital Avionics Systems Conference. Reston, Virigina: American Institute of Aeronautics and Astronautics, 1988. http://dx.doi.org/10.2514/6.1988-3882.

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Zilouchian, Ali. "Development of a Real-Time Digital Computer Control Laboratory." In 1992 American Control Conference. IEEE, 1992. http://dx.doi.org/10.23919/acc.1992.4792110.

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DANILUCK, J. "Digital control development for the T56-A-427." In 23rd Joint Propulsion Conference. Reston, Virigina: American Institute of Aeronautics and Astronautics, 1987. http://dx.doi.org/10.2514/6.1987-2013.

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Jong Min, Lee, Kwang Seok Oh, and Taejun Song. "Development of Fault Detection and Emergency Control for Application to Autonomous Vehicle." In SAE WCX Digital Summit. 400 Commonwealth Drive, Warrendale, PA, United States: SAE International, 2021. http://dx.doi.org/10.4271/2021-01-0075.

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Emaru, Takanori, Kazuo Imagawa, Yohei Hoshino, and Yukinori Kobayashi. "Development of Control System by Nonlinear Compensation Using Digital Acceleration Control." In ASME 2010 Dynamic Systems and Control Conference. ASMEDC, 2010. http://dx.doi.org/10.1115/dscc2010-4125.

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Proportional-Integral-Derivative (PID) control has been most commonly used to operate mechanical systems. In PID control, however, there are limits to the accuracy of the resulting movement because of the influence of gravity, friction, and interaction of joints. We have proposed a digital acceleration control (DAC) that is robust over these modeling errors. One of the most practicable advantages of DAC is robustness against modeling errors. However, it does not always work effectively. If there are modeling errors in the inertia term of the model, the DAC controller cannot control a mechanical system properly. Generally an inertia term is easily modeled in advance, but it has a possibility to change. Therefore, we propose an online estimation method of an inertia term by using a system identification method. By using the proposed method, the robustness of DAC is considerably improved. This paper shows the simulation results of the proposed method using 2-link manipulator.
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Bratchikov, Stepan, Artur Abdullin, Galina L. Demidova, and Dmitry V. Lukichev. "Development of Digital Twin for Robotic Arm." In 2021 IEEE 19th International Power Electronics and Motion Control Conference (PEMC). IEEE, 2021. http://dx.doi.org/10.1109/pemc48073.2021.9432535.

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Dey, Saikat, and Subham Agarwala. "Development of a digital phase angle meter." In 2016 International Conference on Control, Instrumentation, Communication and Computational Technologies (ICCICCT). IEEE, 2016. http://dx.doi.org/10.1109/iccicct.2016.7988011.

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Zhou, Dayong, Hazem H. Refai, Peter G. LoPresti, and Mohammed Atiquzzaman. "Control algorithm development for mobile FSO node alignment." In 2009 IEEE/AIAA 28th Digital Avionics Systems Conference (DASC). IEEE, 2009. http://dx.doi.org/10.1109/dasc.2009.5347454.

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Sell, N. P., N. Johnston, A. R. Plummer, and S. Kudzma. "Development of a Position Controlled Digital Hydraulic Valve." In ASME/BATH 2015 Symposium on Fluid Power and Motion Control. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/fpmc2015-9514.

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Digital hydraulics is a key part of the continuing applicability of fluid power in the modern world. In order to realize the potential of digital hydraulic circuits, valves which are able to switch at high frequencies whilst retaining high flows are first required. This paper details the development of a valve which is capable of switching in 0.5ms whilst providing a flow rate of over 50L/min at a 10bar pressure drop. Unlike most of the other valves currently in development, position control is used as opposed to the more common bang-bang actuation. This has obvious benefits for valve robustness and offers the possibility of a hybrid control approach which utilizes both throttling and switching control. This paper will detail the design and empirical testing of the valve and benchmark it against published and commercial valves before proceeding to discuss the challenges present in developing the valve further.
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Reports on the topic "Digital control development"

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Talbott, A. D. Development of a digital control unit to displace diesel fuel with natural gas. Office of Scientific and Technical Information (OSTI), March 1997. http://dx.doi.org/10.2172/491373.

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Alford, Cecil O., Wei S. Tan, R. Indaheng, J. Lie, and M. Alibakhsh. Guidance, Navigation and Control Digital Emulation Technology Laboratory. Volume 4. Task 4: Software Development. Fort Belvoir, VA: Defense Technical Information Center, September 1991. http://dx.doi.org/10.21236/ada241695.

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Alford, Cecil O., Andrew Henshaws, Stephen Gieseking, and Roy Melton. Guidance, Navigation and Control Digital Emulation Technology Laboratory. Volume 2. Task 2: Seeker Scene Emulator Development. Fort Belvoir, VA: Defense Technical Information Center, September 1991. http://dx.doi.org/10.21236/ada241694.

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Alford, Cecil O., Michael B. Woods, Richard M. Pitts, and Philip R. Bingham. Guidance, Navigation and Control Digital Emulation Technology Laboratory. Volume 5. Task 5: GN&C Processor Development and PFP Integration. Fort Belvoir, VA: Defense Technical Information Center, September 1991. http://dx.doi.org/10.21236/ada241696.

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