Related papers: Development of the Simulator for the Global Orbit …
The European Proximity Operation Simulator (EPOS) of the DLR-German Aerospace Center is a robotics-based simulator that aims at validating and verifying a satellite docking phase. The generic concept features a robotics tracking system…
Orbit feedback system plays crucial roles for the operation of the 3rd generation light source. There are various issues in orbit feedback system should be addressed to achieve ultimate performance. The orbit feedback system in SRRC is…
Experimental diagnostics, analysis tools and simulations represent particle distributions in various forms and coordinates. Algorithms to manage these data are needed on platforms like the ITER Integrated Modelling & Analysis Suite (IMAS),…
A hybrid docking simulator is a hardware-in-the-loop (HIL) simulator that includes a hardware element within a numerical simulation loop. One of the goals of performing a HIL simulation at the European Proximity Operation Simulator (EPOS)…
In this paper we introduce the concept of real-time hardware-in-the-loop simulation for astronomical adaptive optics, and present the case for the requirement for such a facility. This real-time simulation, when linked with an adaptive…
We will use EPICS toolkit [1] to build a prototype for upgrading BEPC control system. The purposes are for the following three aspects: (1) Setup a network based distributed control system with EPICS. (2) Study some front-end control…
We solve the problem of output feedback stabilization of a class of nonlinear systems, which may have unstable zero dynamics. We allow for any globally stabilizing full state feedback control scheme to be used as long as it satisfies a…
Closed orbit feedback (COFB) systems used for the global orbit correction rely on the pseudo-inversion of the orbit response matrix (ORM). A mismatch between the model ORM used in the controller and the actual machine ORM can affect the…
Many large accelerator facilities have adopted the open-source EPICS software as the quasi-industry standard for control systems. They typically have access to their own electronics laboratory and dedicated personnel for control system…
Reliable confinement and stable performance of tokamak fusion plasmas require accurate real-time magnetic shape control. A promising route to reduced latency and increased flexibility in plasma control systems (PCS) is to emulate…
In this paper, we present a global state feedback tracking controller for underactuated surface marine vessels. This controller is based on saturated control inputs and, under an assumption on the reference trajectory, the closed-loop…
This paper presents Gym-TORAX, a Python package enabling the implementation of Reinforcement Learning (RL) environments for simulating plasma dynamics and control in tokamaks. Users define succinctly a set of control actions and…
This article describes concepts and mechanisms used in porting of EPICS (Experimental Physical and Industrial Control System) codes to platform of operating system UNIX. Without destruction of EPICS architecture, new features of EPICS…
Reliable position and shape control in tokamak plasmas requires accurate real-time regulation of several strongly coupled shape parameters. The control vectors that disentangle these couplings, referred to as \textit{virtual circuits}…
We present an electronic circuit which simulates wave propagation in dispersive media. The circuit is an array of phase shifter composed of operational amplifiers and can be described with a discretized version of one-dimensional wave…
In this work, we present a hybrid simulator for space docking and robotic proximity operations methodology. This methodology also allows for the emulation of a target robot operating in a complex environment by using an actual robot. The…
We investigate a control technique for spatially extended systems combining spatial filtering with a previously studied form of time-delay feedback. The scheme is naturally suited to real-time control of optical systems. We apply the…
Haptic training simulators generally consist of three major components, namely a human operator, a haptic interface, and a virtual environment. Appropriate dynamic modeling of each of these components can have far-reaching implications for…
Physics simulators are widely used in robotics fields, from mechanical design to dynamic simulation, and controller design. This paper presents an open-source MATLAB/Simulink simulator for rigid-body articulated systems, including…
Machine learning has recently been adopted to emulate sensitivity matrices for real-time magnetic control of tokamak plasmas. However, these approaches would benefit from a quantification of possible inaccuracies. We report on two aspects…