This paper presents a control strategy for manipulation of exible objects by multiple robot arms. The control policy developed in this paper for exible objects is based on a controller developed previously for rigid objects: the object impedance controller. The controller compensates for the dynamics of both the arms and the object and responds to environmental forces with a fully programmable ...

The cavity control system for the TESLA TeV–Energy Superconducting Linear Accelerator project is initially introduced in this paper. The FPGA – Field Programmable Gate Array technology has been implemented for digital controller stabilizing cavity field gradient. The cavity SIMULINK model has been applied to test the hardware controller. The step operation method has been developed for testing ...

The Durham adaptive optics (AO) real-time controller was initially a proof of concept design for a generic AO control system. It has since been developed into a modern and powerful central-processing-unit-based real-time control system, capable of using hardware acceleration (including field programmable gate arrays and graphical processing units), based primarily around commercial off-the-shel...

Throughout the ages people have been working in research institutes and industries in machine automation so as to have less involvement of operator in machine operations. In the development of automation controllers the trend has been to move towards soft controllers so as to provide better control, more flexibility and more reliability with intelligent diagnostics of machine faults. So industr...

The choice of a communication paradigm, or protocol, is central to the design of a largescale multiprocessor system. Unlike traditional multiprocessors, the FLASH machine uses a programmable node controller, called MAGIC, to implement all protocol processing. The architecture of the MAGIC chip allows FLASH to support multiple communication paradigms — in particular, cache-coherent shared memory...

The PLC (Programmable Logic Controller) has been widely used in the industrial world as a controller for manufacturing systems, as a process controller and so on. The conventional PLC has been designed and verified as a pure Discrete Event System (DES) by using an abstract model of a controlled plant. In verifying the PLC, however, it is also important to take into account the physical behavior...