3D Path Planning and Real-Time Simulation for Robot Manipulators With Applications to Aerospace Manufacturing

This paper presents a practical scheme for path and trajectory generation with applications in real-time simulation of robotic systems. The path planning is solved as a series of local obstacle avoidance problems which produce via points in the 3D Cartesian space as well as the normal vector to the obstacle surface at each via point. This vector is later utilized for trajectory generation. An intermediate orientation representation is used to guarantee continuity at the angular acceleration level for real-time simulation and control purposes. The proposed method is implemented in a real-time simulation environment for testing and final application. The real-time data generation allows hardware-in-the loop simulation, which is crucial in many aerospace applications.

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Real-Time Dynamic Data-Driven Simulation of Continuum Systems

Volume 4: 24th Computers and Information in Engineering Conference ◽

10.1115/detc2004-57684 ◽

2004 ◽

Author(s):

J. G. Michopoulos ◽

C. Farhat ◽

E. N. Houstis

Keyword(s):

Real Time ◽

Behavior Modeling ◽

Time Data ◽

Physical Systems ◽

Real Time Simulation ◽

Time Dynamic ◽

Time Simulation ◽

Speed Accuracy ◽

Continuum Systems ◽

Behavioral Monitoring

Recent proliferation of sensor networks in various application areas has promoted real-time behavioral monitoring of various physical systems. The opportunity to use sensor generated data dynamically for improving speed, accuracy, and general performance of predictive behavior modeling simulation is of paramount importance. The present paper identifies enabling modeling methods and computational strategies that are critical for achieving real-time or near real-time simulation response of very large and complex systems. It also discusses our choices of these technologies in the context of sample multidisciplinary computational mechanics applications and describes two examples to demonstrate the feasibility of integrating real-time data with real-time simulation.

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Real-Time Simulation of Pipe Network Based on EPANET

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.548-549.1800 ◽

2014 ◽

Vol 548-549 ◽

pp. 1800-1803 ◽

Cited By ~ 2

Author(s):

Gen Yuan Zhang

Keyword(s):

Real Time ◽

Water Distribution ◽

Distribution Network ◽

Water Distribution Network ◽

Simulation System ◽

Time Data ◽

Real Time Simulation ◽

The Real ◽

Time Simulation ◽

Real Time Data

Hydraulic simulation models of water pipe networks (WPN) are routinely used for operational investigations and network design purposes. However, their full potential is often never realized because in the majority of cases, they have been calibrated with data collected manually from the field during a single historic time period and reflects the network operational conditions that were prevalent at that time. They were then applied as part of a reactive investigation. An urban water distribution network real time simulation system based on EPANET system using OPC (object linking and Embedding for Process control) communication was built in this paper. In order to make real-time simulation of water distribution network, the real-time data was collected every 15 minutes, the real time data were received and sent into water distribution network simulation model by OPC communication of EPANET system. The real-time data included total head of reservoir, flow rate, pressure, pump operation information. The real-time simulation system can give timely warning of changes for normal network operation, providing capacity to minimize customer impact and comparing the simulation results with the real-time data collected. The real time simulation system of urban water pipe network solved the problem of data input and user interaction compare to traditional network model. It offers a way for the development of intelligent water network.

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