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The article is devoted to the optimization of optoelectronic systems of the spatial position of objects. Probabilistic characteristics of the detection of an active structured mark on a random noisy background are investigated. The developed computer model and the results of the study allow us to estimate the probabilistic characteristics of detection of a complex structured mark on a random gradient background, and estimate the error of spatial coordinates. The results of the study make it possible to improve the accuracy of measuring the coordinates of the object. Based on the research recommendations are given on the choice of parameters of the optimal mark structure for use in opticalelectronic systems for monitoring the spatial position of large-sized structures.

Modern multi sensor systems should have high operating speed and resistance to climate impacts. Radiofrequency systems use passive SAW tags for identification items and vehicles. These tags find application in industry, traffic remote control systems, and railway remote traffic control systems for identification and speed measuring. However, collision of the passive SAW RFID tags hinders development passive RFID SAW technology in Industry. The collision problem for passive SAW tags leads for incorrect identification and encoding each tag. In our researching, we suggest approach for identification of several passive SAW tags in collision case.

We present an introduction to model based design. Model based design is a visual representation, generally a block diagram, to model and incrementally develop a complex system. Model based design is a commonly used design methodology for digital signal processing, control systems, and embedded systems. Model based design’s philosophy is: to solve a problem - a step at a time. The approach can be compared to a series of steps to converge to a solution. A block diagram simulation tool allows a design to be simulated with real world measurement data. For example, if an analog control system is being upgraded to a digital control system, the analog sensor input signals can be recorded. The digital control algorithm can be simulated with the real world sensor data. The output from the simulated digital control system can then be compared to the old analog based control system. Model based design can compared to Agile software develop. The Agile software development goal is to develop working software in incremental steps. Progress is measured in completed and tested code units. Progress is measured in model based design by completed and tested blocks. We present a concept for a video game controller and then use model based design to iterate the design towards a working system. We will also describe a model based design effort to develop an OS Friendly Microprocessor Architecture based on the RISC-V.

Modern safety and security systems are composed of a large number of various components designed for detection, localization, tracking, collecting, and processing of information from the systems of monitoring, telemetry, control, etc. They are required to be highly reliable in a view to correctly perform data aggregation, processing and analysis for subsequent decision making support. On design and construction phases of the manufacturing of such systems a various types of components (elements, devices, and subsystems) are considered and used to ensure high reliability of signals detection, noise isolation, and erroneous commands reduction. When generating design solutions for highly reliable systems a number of restrictions and conditions such as types of components and various constrains on resources should be considered. Various types of components perform identical functions; however, they are implemented using diverse principles, approaches and have distinct technical and economic indicators such as cost or power consumption. The systematic use of different component types increases the probability of tasks performing and eliminates the common cause failure. We consider type-variety principle as an engineering principle of system analysis, mathematical models based on this principle, and algorithms for solving optimization problems of highly reliable safety and security systems design. Mathematical models are formalized in a class of two-level discrete optimization problems of large dimension. The proposed approach, mathematical models, algorithms can be used for problem solving of optimal redundancy on the basis of a variety of methods and control devices for fault and defects detection in technical systems, telecommunication networks, and energy systems.

Pathological tremor results in undesired motion of body parts, with the greatest effect typically occurring in the hands. Since common treatment methods are ineffective in some patients or have risks associated with surgery or side effects, researchers are investigating mechanical means of tremor suppression. This work explores the viability of dielectric elastomers as the actuators in a tremor suppression control system. Dielectric elastomers have many properties similar to human muscle, making them a natural fit for integration into the human biomechanical system. This investigation develops a model of the integrated wrist-actuator system to determine actuator parameters that produce the necessary control authority without significantly affecting voluntary motion. Furthermore, this paper develops a control law for the actuator voltage to increase the effective viscous damping of the system. Simulations show excellent theoretical tremor suppression, demonstrating the potential for dielectric elastomers to suppress tremor while maximizing compatibility between the actuator and the human body.

Within the framework of the JTI-Clean Sky (CS) project, and during the first phase of the Low Noise Configuration Domain of the Green Regional Aircraft – Integrated Technological Demonstration (GRA-ITD, the preliminary design and technological demonstration of a novel wing flap architecture were addressed. Research activities were carried out to substantiate the feasibility of morphing concepts enabling flap camber variation in compliance with the demanding safety requirements applicable to the next generation green regional aircraft, 130- seats with open rotor configuration. The driving motivation for the investigation on such a technology was found in the opportunity to replace a conventional double slotted flap with a single slotted camber-morphing flap assuring similar high lift performances -in terms of maximum attainable lift coefficient and stall angle- while lowering emitted noise and system complexity. Studies and tests were limited to a portion of the flap element obtained by slicing the actual flap geometry with two cutting planes distant 0.8 meters along the wing span. Further activities were then addressed in order to increase the TRL of the validated architecture within the second phase of the CS-GRA. Relying upon the already assessed concept, an innovative and more advanced flap device was designed in order to enable two different morphing modes on the basis of the A/C flight condition / flap setting: Mode1, Overall camber morphing to enhance high-lift performances during take-off and landing (flap deployed); Mode2, Tab-like morphing mode. Upwards and downwards deflection of the flap tip during cruise (flap stowed) for load control at high speed. A true-scale segment of the outer wing flap (4 meters span with a mean chord of 0.9 meters) was selected as investigation domain for the new architecture in order to duly face the challenges posed by real wing installation. Advanced and innovative solutions for the adaptive structure, actuation and control systems were duly analyzed and experimentally validated thus proving the overall device compliance with industrial standards and applicable airworthiness requirements.

13.5nm wavelength, CO2-Sn-LPP EUV light source which is the most promising solution for the source capable of enabling high-volume-manufacturing of semiconductor devices with critical layers patterned with sub-10nm resolution. Our source incorporates unique and original technologies such as; high power short pulse CO2 laser, short wavelength solid-state pre-pulse laser, highly stabilized droplet generator, a laser-droplet shooting control system and debris mitigation technology utilizing a strong magnetic field. In this paper we present a technology update on the key components of our 250W CO2-Sn-LPP EUV light source.

The control system of six degrees of freedom visual industrial robot based on the control mode of multi-axis motion control cards and PC was researched. For the variable, non-linear characteristics of industrial robot`s servo system, adaptive fuzzy PID controller was adopted. It achieved better control effort. In the vision system, a CCD camera was used to acquire signals and send them to video processing card. After processing, PC controls the six joints` motion by motion control cards. By experiment, manipulator can operate with machine tool and vision system to realize the function of grasp, process and verify. It has influence on the manufacturing of the industrial robot.

South Ural State University is still conducting the research work dedicated to innovations in biomedicine. Development of system for continuous control and diagnosis of the functional state in large groups of people is based on studies of non-contact ECG recording reported by the authors at the SPIE conference in 2016. The next stage of studies has been performed this year.

The response characteristics of the pitch polishing pad under the pressure of conditioner is the key factor which affect the control efficacy of surface figure in annular polishing. The effect of the environmental temperature and humidity, rotation speed of the pad, uploading ratio and eccentricity of the conditioner on the response characteristics of pitch polishing pad were experimental researched. To this aim, a control system of the environmental temperature and humidity on the 2.8m-aperture annular polishing machine is established. The control precision of the local environmental temperature upon the pad is up to ±0.1℃, and the control precision of humidity is up to ±1% RH. The experimental results indicate that the matching degree of the pad and the conditioner decides the changing rule of the surface figure of workpiece with the eccentricity of the conditioner. The new adjustable parameters including the environmental temperature and humidity and the uploading ratio of the conditioner were introduced to change the matching degree and improve the controllability of the of the surface figure. Under the optimized process, the long-term stability of the surface figure of the meter-scale optical element is realized using the 2.8m annular polishing machine, which is an important step for the final realization of the deterministic processing in the large-aperture annular polishing.

One of the main factors that affect the performance of stabilized Line-of-Sight (LOS) control system is disturbance torque. Firstly, the transfer function between disturbance torque and angular velocity of LOS is given by establishing the system dynamics model. Secondly, we investigate the characteristics of disturbance torque for small inertial Line-of-Sight control system. Thirdly, an application of disturbance observer is presented to compensate for disturbance, such as friction and mass imbalance. In this paper, consider only friction. Simulation is made by using the friction model output as disturbance input. In the course of Matlab simulation, the compensation by using disturbance observer improves the overall stabilization performance of the system. The RMS value of the velocity error has decreased to 10%.

The dark current noise existing in the CCD of the astronomical observation camera has a serious influence on its working performance, reducing the working temperature of CCD can suppress the influence of dark current effectively. By analyzing the relationship between the CCD chip and the dark current noise, the optimum working temperature of the red band CCD focal plane is identified as -75℃. According to the refrigeration temperature, a cooling control system for focal plane based on a thermoelectric cooler (TEC) was designed. It is required that the system can achieve high precision temperature control for the target. In the cooling control system, the 80C32 microcontroller was used as its systematic core processor. The advanced PID control algorithm is adopted to control the temperature of the top end of TEC. The bottom end of the TEC setting a constant value according to the target temperature used to assist the upper TEC to control the temperature. The experimental results show that the cooling system satisfies the requirements of the focal plane for the astronomical observation camera, it can reach the working temperature of -75℃ and the accuracy of ±2℃.

Recently, it was predicted that the energy transfer between normal modes of open systems with a specific type of degeneracy known as an exceptional point (EP) could be achieved by topological operations, and that the outcome of these operations would be non-reciprocal.1 Here we demonstrate this topological transfer of energy between two vibrational modes of a cryogenic optomechanical device using a tunable laser. We also show the non-reciprocity of the energy transfer process. These results open up new directions in system control, as well as other dynamical processes of multimode systems that are robust against small perturbations.

The laser tracker is composed of a mechanical structure and a servo control system. And the characteristics of them all affect the error and stability of the laser tracker measurement system. In the dynamic characteristics, the mechanical structure has its natural frequency and the servo control system has servo bandwidth. If the natural frequency closes to the servo bandwidth, the noise produced by system will have an influence on the stability and measure precision of the turntable. In order to make a laser tracker take a good performance, the natural frequency has to stay away from the range of the servo bandwidth. Based on this relationship between the natural frequency and servo bandwidth, construct and simplify a 3D model, analyze the influence of material stiffness, friction and rotary inertia on the natural frequency of a self-developed laser tracker turntable. Analysis shows that the natural frequency augments with the increase of material stiffness and reduction of rotary inertia and has nothing to do with friction. And factors of the structure material influence the different orders of natural frequency differently. These conclusions show that the kind of material with low density and high stiffness is more fitted to the turntable and provide references for optimization design of precision laser tracking turntable.

A MEMS scanner with a high level of motion freedom has been developed. It includes a 2D mechanical tilting capability of +/- 15°, a piston motion of 50μm and a focus/defocus control system of a 2mm diameter mirror. The tilt and piston motion is achieved with an electromagnetic actuation (moving magnet) and the focus control with a deformation of the reflective surface with pneumatic actuation. This required the fabrication of at least one channel on the compliant membrane and a closed cavity below the mirror surface and connected to an external pressure regulator (vacuum to several bars). The fabrication relies on 3 SOI wafers, 2 for forming the compliant membranes and the integrated channel, and 1 to form the cavity mirror. All wafers were then assembled by fusion bonding. Pneumatic actuation for focus control can be achieved from front or back side; function of packaging concept. A reflective coating can be added at the mirror surface depending of the application. The tilt and piston actuation is achieved by electromagnetic actuation for which a magnet is fixed on the moving part of the MEMS device. Finally the MEMS device is mounted on a ceramic PCB, containing the actuation micro-coils. Concept, fabrication, and testing of the devices will be presented. A case study for application in an endoscope with an integrated high power laser and a MEMS steering mechanism will be presented.

In this work, we propose an laser-interference based measurement method that employs a hardware device in the reference arm to track the out-of-plane displacement in the objective arm. Then a real-time one-point out-of-plane displacement measurement system is built up using a Michelson interferometer, a PZT device, a CCD camera and a tracking control system. The system works by checking the movement of fringes and then promoting PZT to track the displacement. A tracking algorithm including direction judgment and correlation computation is developed to decide whether PZT is started and the distance that PZT is ordered to move. Experimental results demonstrate the effectiveness of the system and finally the detailed mechanism of the system is discussed.

The problem of decentralized control of group of robots, described by kinematic and dynamic equations of motion in the plane, is considered. Group performs predetermined rectangular area passing at a fixed speed, keeping the line and a uniform distribution. The environment may contain a priori unknown moving or stationary obstacles. Decentralized control algorithms, based on the formation of repellers in the state space of robots, are proposed. These repellers form repulsive forces generated by dynamic subsystems that extend the state space of robots. These repulsive forces are dynamic functions of distances and velocities of robots in the area of operation of the group. The process of formation of repellers allows to take into account the dynamic properties of robots, such as the maximum speed and acceleration. The robots local control law formulas are derived based on positionally-trajectory control method, which allows to operate with non-linear models. Lyapunov function in the form of a quadratic function of the state variables is constructed to obtain a nonlinear closed-loop control system. Due to the fact that a closed system is decomposed into two independent subsystems Lyapunov function is also constructed as two independent functions. Numerical simulation of the motion of a group of five robots is presented. In this simulation obstacles are presented by the boundaries of working area and a movable object of a given radius, moving rectilinear and uniform. Obstacle speed is comparable to the speeds of the robots in a group. The advantage of the proposed method is ensuring the stability of the trajectories and consideration of the limitations on the speed and acceleration at the trajectory planning stage. Proposed approach can be used for more general robots’ models, including robots in the three-dimensional environment.

The composition and working principle of variable speed constant frequency doubly fed wind power generation system is discussed in this thesis. On the basis of theoretical analysis and control on the modeling, the doubly fed wind power generation simulation control system is designed based on a TMS320F2407 digital signal processor (DSP), and has done a large amount of experimental research, which mainly include, variable speed constant frequency, constant pressure, Grid connected control experiment. The running results show that the design of simulation control system is reasonable and can meet the need of experimental research.

A robust adaptive output-feedback control scheme based on K-filters is proposed for a class of nonlinear interconnected time-varying delay systems with immeasurable states. It is difficult to design the controller due to the existence of the immeasurable states and the time-delay couplings among interconnected subsystems. This difficulty is overcome by use of the fuzzy system, the K-filters and the appropriate Lyapunov-Krasovskii functional. Based on Lyapunov theory, the closed-loop control system is proved to be semi-global uniformly ultimately bounded (SGUUB), and the output tracking error converges to a neighborhood of zero. Simulation results demonstrate the effectiveness of the approach.

Blade is the key component in the energy power equipment of turbine, aircraft engines and so on. Researches on the process and equipment for blade finishing become one of important and difficult point. To control precisely tool system of developed hybrid grinding and polishing machine tool for blade finishing, the tool system with changeable wheel for belt polishing is analyzed in this paper. Firstly, the belt length and wrap angle of each wheel in different position of tension wheel swing angle in the process of changing wheel is analyzed. The reasonable belt length is calculated by using MATLAB, and relationships between wrap angle of each wheel and cylinder expansion amount of contact wheel are obtained. Then, the control system for changeable wheel tool structure is developed. Lastly, the surface roughness of blade finishing is verified by experiments. Theoretical analysis and experimental results show that reasonable belt length and wheel wrap angle can be obtained by proposed analysis method, the changeable wheel tool system can be controlled precisely, and the surface roughness of blade after grinding meets the design requirements.

Ac contactor is a kind of low voltage electrical appliances with large usage and wide application. Because of the frequent operation, contactor life must be long enough to ensure the reliable operation of power system. The electrical life of the contactor, as the key to affect the service life of the contactor, is mainly affected by the arc developed in the breaking and closing course. This paper concentrates on a new type of asynchronous modular contactor. To get the contactor movement characteristics, the dynamic model of the electromagnetic system is established by MATLAB/SIMULINK. Then, according to the displacement curve of contactor, the breaking process and closing process is planned. The thought of closed loop control, by adjusting the parameters of PID controller, enables the contactor to operate as the planning displacement curve. In addition, to achieve no arc or micro arc breaking and no bounce or micro bounce closing , a displacement closed loop control system for contactor is designed.

This paper designs a control system of mobile robot for the aged and the disabled, which consists of two main parts: human-computer interaction and drive control module. The data of the two parts is transferred via universal asynchronous receiver/transmitter. In the former part, the speed and direction information of the mobile robot is obtained by hall joystick. In the latter part, the electronic differential algorithm is developed to implement the robot mobile function by driving two-wheel motors. In order to improve the comfort of the robot when speed or direction is changed, the least squares algorithm is used to optimize the speed characteristic curves of the two motors. Experimental results have verified the effectiveness of the designed system.

In view of the disadvantages of the traditional control methods of combine harvester louver sieve, an electronic control system of louver sieve is designed to replace the traditional mechanical regulation structure, and it changes the old way of manipulating louver sieve. In order to achieve the goal control effect more accurately and quickly, the fuzzy adaptive PID control method and the key control design method based on the finite state machine is proposed during the control process. The tests show that the control system can reach louver sieve electric control goals, and can obtain accurate and stable control effect.

This paper focuses on the stabilization problem for the floated inertial platform experimental system. Based on the moment analysis of the platform and the mode of the main moment, the dynamic equation of the stabilized platform rotating around its center is derived in consideration of some disturbances. To solve the system model uncertainty, measurement noise, three-axial coupling and unmodeled disturbances, the Auto Disturbances Rejection Controller (ADRC) is proposed. In addition, the time delay problem, caused by system wireless transmission, is addressed using an improved ADRC controller. Three-axial stabilized control system model of floated inertial platform experimental system is built by MATLAB/SIMULINK. Simulations indicate that the ADRC controller is better than the traditional PID controller. This controller can stabilize the platform more quickly, more accurately, more robustly and without overshoot. Improved Smith predicting ADRC controller can eliminate the influence of transmission time delay of the system to realize the stability control real-timely. By virtue of this improved controller, this platform can provide an effective inertial reference for the vehicle.

This paper presents the concept of a universal control system for automation of small test setups. The main purpose is to control the environment in which the electronic component is being tested. The system has two device types: a master device and multiple slave devices. In this control system the devices are able to communicate with each other and are able to monitor and control specific tasks or actions required in the test flow. The system can be configured using a computer application based on text input.

The separation column used for experimentations one model can be configured in two ways: one - two columns of different diameters placed one within the other extension, and second way, one column with set diameter [1], [2]. The column separates the carbon isotopes based on the cryogenic distillation of pure carbon monoxide, which is fed at a constant flow rate as a gas through the feeding system [1],[2]. Based on numerical control systems used in virtual instrumentation was done some simulations of the distillation process in order to obtain of the isotope 13C at high concentrations. The experimental installation for cryogenic separation can be configured from the point of view of the separation column in two ways: Cascade - two columns of different diameters and placed one in the extension of the other column, and second one column with a set diameter. It is proposed that this installation is controlled to achieve data using a data acquisition tool and professional software that will process information from the isotopic column based on a logical dedicated algorithm. Classical isotopic column will be controlled automatically, and information about the main parameters will be monitored and properly display using one program. Take in consideration the very-low operating temperature, an efficient thermal isolation vacuum jacket is necessary. Since the “elementary separation ratio” [2] is very close to unity in order to raise the (13C) isotope concentration up to a desired level, a permanent counter current of the liquid-gaseous phases of the carbon monoxide is created by the main elements of the equipment: the boiler in the bottom-side of the column and the condenser in the top-side.

For space optical remote sensor, especially wide swath detecting sensor, the focusing control system for the focal plane should be well designed to obtain the best image quality. The crucial part of this system is the measuring instrument. For previous implements, the potentiometer, which is essentially a voltage divider, is usually introduced to conduct the position in feedback closed-loop control process system. However, the performances of both electro-mechanical and digital potentiometers is limited in accuracy, temperature coefficients, and scale range. To have a better performance of focal plane moving detection, this article presents a new measuring implement with photoelectric rotary encoder, which consists of the photoelectric conversion system and the signal process system. In this novel focusing control system, the photoelectric conversion system is fixed on main axis, which can transform the angle information into a certain analog signal. Through the signal process system, after analog-to-digital converting and data format processing of the certain analog signal, the focusing control system can receive the digital precision angle position which can be used to deduct the current moving position of the focal plane. For utilization of space optical remote sensor in aerospace areas, the reliability design of photoelectric rotary encoder system should be considered with highest priority. As mentioned above, this photoelectric digital precision angle measurement device is well designed for this real-time control and dynamic measurement system, because its characters of high resolution, high accuracy, long endurance, and easy to maintain.

Magnetic field detection is an important means of deep space environment exploration. Benefit from simple structure and low power consumption, atomic interference magnetometer become one of the most potential detector payloads. Vertical Cavity Surface Emitting Laser (VCSEL) is usually used as a light source in atomic interference magnetometer and its frequency stability directly affects the stability and sensitivity of magnetometer. In this paper, closed-loop control strategy of VCSEL was designed and analysis, the controller parameters were selected and the feedback error algorithm was optimized as well. According to the results of experiments that were performed on the hardware-in-the-loop simulation platform, the designed closed-loop control system is reasonable and it is able to effectively improve the laser frequency stability during the actual work of the magnetometer.

Aiming at the shortcomings of the primary sensor thermostatic control system in the near infrared (NIR) spectrometer, a novel thermostatic control system based on proportional-integral-derivative (PID) control technology was developed to improve the detection precision of the NIR spectrometer. There were five parts including bridge amplifier circuit, analog-digital conversion (ADC) circuit, microcontroller, digital-analog conversion (DAC) circuit and drive circuit in the system. The five parts formed a closed-loop control system based on PID algorithm that was used to control the error between the temperature calculated by the sampling data of ADC and the designed temperature to ensure the stability of the spectrometer’s sensor. The experimental results show that, when the operating temperature of sensor is -11℃, compared with the original system, the temperature control precision of the new control system is improved from ±0.64℃ to ±0.04℃ and the spectrum signal to noise ratio (SNR) is improved from 4891 to 5967.

control method based on visual servo feedback is proposed, which is used to improve the attitude of a quad-rotor aircraft and to enhance its flight stability. Ground target images are obtained by a visual platform fixed on aircraft. Scale invariant feature transform (SIFT) algorism is used to extract image feature information. According to the image characteristic analysis, fast motion estimation is completed and used as an input signal of PID flight control system to realize real-time status adjustment in flight process. Imaging tests and simulation results show that the method proposed acts good performance in terms of flight stability compensation and attitude adjustment. The response speed and control precision meets the requirements of actual use, which is able to reduce or even eliminate the influence of environmental disturbance. So the method proposed has certain research value to solve the problem of aircraft’s anti-disturbance.

In this paper, an optical signal to noise ratio (OSNR) monitoring method based on radio frequency (RF) power of two signals in parallel connection. The test optical signal was split equally into two signals in parallel connection. One removed out-of-band noise by optical bandpass filter, the other kept output power constant by electronic variable optical attenuators (EVOA) with power-locking control loop. One radio frequency power of the two signals treated by different ways increased with the increase of OSNR when the two signals are at the same place. The other decreased. The difference of radio frequency power of the two signals at the same place was used to monitor OSNR. The simulation results showed that the proposed technique can implement OSNR monitoring between 2dB and 30dB for 40Gb/s NRZDQPSK optical signal. Monitoring error was within 1.5dB and the proposed technique was insensitive to chromatic dispersion (CD) and polarization mode dispersion (PMD).

In recent years, major projects, such as National Ignition Facility and Laser Megajoule, have generated great demands for large aperture optics with high surface accuracy and low Subsurface Damage (SSD) at the mean time. In order to remove SSD and improve surface quality, optics is fabricated by sub-aperture polishing. However, the efficiency of the sub-aperture polishing has been a bottleneck step for the optics manufacturing. Atmospheric Pressure Plasma Processing (APPP) as an alternate method offers high potential for speeding up the polishing process. This technique is based on chemical etching, hence there is no physical contact and no damage is induced. In this paper, a fast polishing machine tool is presented which is designed for fast polishing of the large aperture optics using APPP. This machine tool employs 3PRS-XY hybrid structure as its framework. There is a platform in the 3PRS parallel module to support the plasma generating system. And the large work piece is placed on the XY stage. In order to realize the complex motion trajectory for polishing the freeform optics, five axis of the tool operate simultaneously. To overcome the complexity of inverse kinematics calculation, a dedicated motion control system is also designed for speeding up the motion response. For high removal rate, the individual influence of several key processing parameters is investigated. And under specific production condition, this machine tool offers a high material over 30mm3/min for fused silica substrates. This results shows that APPP machine tool has a strong potential for fast polishing large optics without introducing SSD.

Aiming at the high precision and efficiency requirements of Z-direction locating in Talbot lithography, a control system based on Voice Coil Motor (VCM) was designed. In this paper, we built a math model of VCM and its moving characteristic was analyzed. A double-closed loop control strategy including position loop and current loop were accomplished. The current loop was implemented by driver, in order to achieve the rapid follow of the system current. The position loop was completed by the digital signal processor (DSP) and the position feedback was achieved by high precision linear scales. Feed forward control and position feedback Proportion Integration Differentiation (PID) control were applied in order to compensate for dynamic lag and improve the response speed of the system. And the high precision and efficiency of the system were verified by simulation and experiments. The results demonstrated that the performance of Z-direction gantry was obviously improved, having high precision, quick responses, strong real-time and easily to expend for higher precision.

The photoelectric servo control system based on PC controllers is mainly used to control the speed and position of the load. This paper analyzed the mathematical modeling and the system identification of the servo system. In the aspect of the control algorithm, the IP regulator, the fuzzy PID, the Active Disturbance Rejection Control (ADRC) and the adaptive algorithms were compared and analyzed. The PI-P control algorithm was proposed in this paper, which not only has the advantages of the PI regulator that can be quickly saturated, but also overcomes the shortcomings of the IP regulator. The control system has a good starting performance and the anti-load ability in a wide range. Experimental results show that the system has good performance under the guarantee of the PI-P control algorithm.

Freeform system theory and its influence on aberration and control, is the basis to develop such a system design, which has application value in engineering aspects. The principle approach, modeling, and error analysis are analyzed, and the system configuration based on freeform is advanced in algorithm analysis.

Hyperspectral Imager Suite (HISUI) is a next-generation Japanese sensor that will be mounted on Japanese Experiment Module (JEM) of ISS (International Space Station) in 2019 as timeframe. HISUI hyperspectral sensor obtains spectral images of 185 bands with the ground sampling distance of 20x31 meter from the visible to shortwave-infrared region. The sensor system is the follow-on mission of the Advanced Spaceborne Thermal Emission and Reflection Radiometer (ASTER) in the visible to shortwave infrared region. The critical design review of the instrument was accomplished in 2014. Integration and tests of an flight model of HISUI hyperspectral sensor is being carried out. Simultaneously, the development of JEM-External Facility (EF) Payload system for the instrument started. The system includes the structure, the thermal control system, the electrical system and the pointing mechanism. The development status and the performances including some of the tests results of Instrument flight model, such as optical performance, optical distortion and radiometric performance are reported.

Laser range finder has been equipped with all kinds of weapons, such as tank, ship, plane and so on, is important component of fire control system. Divergence angle is important performance and incarnation of horizontal resolving power for laser range finder, is necessary appraised test item in appraisal test. In this paper, based on high accuracy test on divergence angle of laser range finder, divergence angle test system is designed based on CCD imaging, divergence angle of laser range finder is acquired through fusion technology for different attenuation imaging, problem that CCD characteristic influences divergence angle test is solved.

We present a summary of our team’s recent efforts in developing adaptive, artificial intelligence-inspired techniques specifically to address several control challenges that arise in machines/systems including those in particle accelerator systems. These techniques can readily be adapted to other systems such as lasers, beamline optics, etc… We are not at all suggesting that we create an autonomous system, but create a system with an intelligent control system, that can continually use operational data to improve itself and combines both traditional and advanced techniques. We believe that the system performance and reliability can be increased based on our findings. Another related point is that the controls sub-system of an overall system is usually not the heart of the system architecture or design process. More bluntly, often times all of the peripheral systems are considered as secondary to the main system components in the architecture design process because it is assumed that the controls system will be able to “fix” challenges found later with the sub-systems for overall system operation. We will show that this is not always the case and that it took an intelligent control application to overcome a sub-system’s challenges. We will provide a recent example of such a “fix” with a standard controller and with an artificial intelligence-inspired controller. A final related point to be covered is that of system adaptation for requirements not original to a system’s original design.

We present preliminary results for the environmental control system from NEID, our instrument concept for NASA's Extreme Precision Doppler Spectrograph, which is now in development. Exquisite temperature control is a requirement for Doppler spectrographs, as small temperature shifts induce systematic Doppler shifts far exceeding the instrumental specifications. Our system is adapted from that of the Habitable Zone Planet Finder instrument, which operates at a temperature of 180K.We discuss system modifications for operation at T ~ 300K, and show data demonstrating sub-mK stability over two weeks from a full-scale system test.

The SKA Telescope Manager (TM) is the core package of the SKA Telescope: it is aimed at scheduling observations, controlling their execution, monitoring the telescope health status, diagnosing and fixing its faults and so on. To do that, TM directly interfaces with the Local Monitoring and Control systems (LMCs) of the various SKA Elements (e.g. Dishes, Low-Frequency Aperture Array, etc.), exchanging commands and data with each of them. TM in turn needs to be monitored and controlled, in order its continuous and proper operation - and therefore that of the whole SKA Telescope - is ensured. It appears indeed that, while the unavailability of one or more instances of any other SKA element should result only in a degraded operation for the whole telescope, a problem in TM could cause a complete stop of any operation. In addition to this higher responsibility, a local monitoring and control system for TM has to collect and display logging data directly to operators, perform lifecycle management of TM applications and directly deal - when possible - with management of TM faults (which also includes a direct handling of TM status and performance data). In this paper, the peculiarities presented by the TM monitoring and control and the consequences they have on the design of a related LMC system are addressed and discussed.

With the steadily increasing complexity of scientific instruments, there is an ever-growing demand for improved control electronics. This is especially important for infrared instruments, where the challenging vacuum and cryogenic systems increase the demands on the overall control system. The control electronics must monitor and adjust many different subsystems in different locations, some mounted at the telescope and others placed inside the telescope building. To implement these different demands, a comprehensive Interlock system with process visualization and powerful diagnostics has been developed at the Calar Alto Observatory and the Zentrum fur Astronomie Heidelberg (LS

In 2014 and 2015 the Multi-Object InfraRed Camera and Spectrograph (MOIRCS) instrument at the Subaru Telescope on Maunakea is underwent a significant modernization and upgrade project. We upgraded the two Hawaii2 detectors to Hawaii2-RG models, modernized the cryogenic temperature control system, and rewrote much of the instrument control software. The detector upgrade replaced the Hawaii2 detectors which use the Tohoku University Focal Plane Array Controller (TUFPAC) electronics with Hawaii2-RG detectors using SIDECAR ASIC (a fully integrated FPA controller system-on-a-chip) and a SAM interface card. We achieved an improvement in read noise by a factor of about 2 with this detector and electronics upgrade. The cryogenic temperature control upgrade focused on modernizing the components and making the procedures for warm up and cool down of the instrument safer. We have moved PID control loops out of the instrument control software and into Lakeshore model 336 cryogenic temperature controllers and have added interlocks on the warming systems to prevent overheating of the instrument. Much of the instrument control software has also been re-written. This was necessitated by the different interface to the detector electronics (ASIC and SAM vs. TUFPAC) and by the desire to modernize the interface to the telescope control software which has been updated to Subaru's "Gen2" system since the time of MOIRCS construction and first light. The new software is also designed to increase reliability of operation of the instrument, decrease overheads, and be easier for night time operators and support astronomers to use.

To achieve the ambitious scientific objectives of the Gaia mission, extremely stringent performance requirements have been given to the spacecraft contractor (Airbus Defence and Space). For a set of those key-performance requirements (e.g. end-of-mission parallax, maximum detectable magnitude, maximum sky density or attitude control system stability), this paper describes how they are engineered during the whole spacecraft development process, with a focus on the end-to-end performance verification. As far as possible, performances are usually verified by end-to-end tests onground (i.e. before launch). However, the challenging Gaia requirements are not verifiable by such a strategy, principally because no test facility exists to reproduce the expected flight conditions. The Gaia performance verification strategy is therefore based on a mix between analyses (based on spacecraft models) and tests (used to directly feed the models or to correlate them). Emphasis is placed on how to maximize the test contribution to performance verification while keeping the test feasible within an affordable effort. In particular, the paper highlights the contribution of the Gaia Payload Module Thermal Vacuum test to the performance verification before launch. Eventually, an overview of the in-flight payload calibration and in-flight performance verification is provided.

The Canada-France-Hawaii Telescope (CFHT) completed the first phase of its TCS upgrade in early 2015. Prior to this effort, the previous version of CFHTs TCS was largely unmodified since it began operation in 1979 and had begun to exhibit reliability and maintainability issues entering its third decade of operation. The first phase consisted of replacing the custom-built servo control hardware built by the Canadian Marconi Company with an off-the-shelf Delta Tau Systems Power PMAC and replacing the absolute and incremental encoders with modern equivalents. Adapting the motion control algorithms used within the Power PMAC for real-time control of the telescope on the sky posed unique challenges. This work brie y summarizes the design for the upgraded TCS at CFHT, describes the solutions that adapted the traditional use of the Power PMAC for use at CFHT, and discusses the improved performance of CFHTs new TCS in terms of decreased time to target and tracking error.

The Operations Simulator was used to prototype the Large Synoptic Survey Telescope (LSST) Scheduler. Currently, the Scheduler is being developed separately to interface with the LSST Observatory Control System (OCS). A new Simulator is under concurrent development to adjust to this new architecture. This requires a package simulating enough of the OCS to allow execution of realistic schedules. This new package is called the Simulated OCS (SOCS). In this paper we detail the SOCS construction plan, package structure, LSST communication middleware platform use, provide some interesting use cases that the separated architecture allows and the software engineering practices used in development.

The primary mirror of the E-ELT is composed of 798 hexagonal segments of about 1.45 meters across. Each segment can be moved in piston and tip-tilt using three position actuators. Inductive edge sensors are used to provide feedback for global reconstruction of the mirror shape. The E-ELT M1 Local Control System will provide a deterministic infrastructure for collecting edge sensor and actuators readings and distribute the new position actuators references while at the same time providing failure detection, isolation and notification, synchronization, monitoring and configuration management. The present paper describes the prototyping activities carried out to verify the feasibility of the E-ELT M1 local control system communication architecture design and assess its performance and potential limitations.

We have built a control system for a mini survey facility dedicated to photometric monitoring of nearby bright (K

As the new control system of the Mercator Telescope is being finalized, we can review some technologies and design methodologies that are advantageous, despite their relative uncommonness in astronomical instrumentation. Particular for the Mercator Telescope is that it is controlled by a single high-end soft-PLC (Programmable Logic Controller). Using off-the-shelf components only, our distributed embedded system controls all subsystems of the telescope such as the pneumatic primary mirror support, the hydrostatic bearing, the telescope axes, the dome, the safety system, and so on. We show how real-time application logic can be written conveniently in typical PLC languages (IEC 61131-3) and in C++ (to implement the pointing kernel) using the commercial TwinCAT 3 programming environment. This software processes the inputs and outputs of the distributed system in real-time via an observatory-wide EtherCAT network, which is synchronized with high precision to an IEEE 1588 (PTP, Precision Time Protocol) time reference clock. Taking full advantage of the ability of soft-PLCs to run both real-time and non real-time software, the same device also hosts the most important user interfaces (HMIs or Human Machine Interfaces) and communication servers (OPC UA for process data, FTP for XML configuration data, and VNC for remote control). To manage the complexity of the system and to streamline the development process, we show how most of the software, electronics and systems engineering aspects of the control system have been modeled as a set of scripts written in a Domain Specific Language (DSL). When executed, these scripts populate a Knowledge Base (KB) which can be queried to retrieve specific information. By feeding the results of those queries to a template system, we were able to generate very detailed “browsable” web-based documentation about the system, but also PLC software code, Python client code, model verification reports, etc. The aim of this paper is to demonstrate the added value that technologies such as soft-PLCs and DSL-scripts and design methodologies such as knowledge-based engineering can bring to astronomical instrumentation.

FRIDA will be a near infrared imager and integral field spectrograph covering the wavelength range from 0.9 to 2.5 microns. FRIDA will work in two observing modes: direct imaging and integral field spectroscopy. This paper presents the main structure of the FRIDA mechanisms control system. In order to comply with a high level of re-configurability FRIDA will comprise eight cryogenic mechanisms and one room temperature mechanism. Most of these mechanisms require high positioning repeatability to ensure FRIDA fulfills with high astronomical specifications. In order to set up the mechanisms positioning control parameters a set of programs have been developed to perform several tests of mechanisms in both room and cryogenic environments. The embedded control software for most of the FRIDA mechanisms has been developed. A description of some mechanisms tests and the software used for this purpose are presented.