Abstract: A triaxial tool unit includes three actuators 3, 4, 5 which operate in three-axis directions orthogonal to one another, a tool holder 7 provided at an intersection on axial lines in operating directions of the actuators 3, 4 and 5, and sensors 8, 9 and 10 which measure displacement amounts in the operating directions of the actuators 3, 4 and 5, and has a structure in which the sensors 8, 9 and 10 are disposed so that extension lines in respective sensing directions intersect with one another at one point.

Abstract: The claimed subject matter provides systems and/or methods that facilitate utilizing a motion control timing model to coordinate operations associated with controlling motion within an industrial automation environment. For example, a cycle timing component can implement timing set forth by a timing model (e.g., that can be selected, preset, . . . ). Pursuant to an illustration, the cycle timing component can utilize the timing model to coordinate transmitting data, receiving data, performing calculations associated with data (e.g., to generate command(s)), capturing data, applying received commands, and so forth.

Abstract: Tightening torque is appropriately managed by a simple means. An electric rotating tool (40) has a brushless DC motor (2), an inverter circuit part (3), and a control circuit part (4). The control circuit part (4) has a current detecting circuit (18), which detects a motor current I, a rotation number detecting circuit (17), which detects the number of rotations of the motor (N), and a computing part (19), which calculates first tightening torque (T1) based on the detection information of the motor current (I) and calculates second tightening torque (T2) based on the number of rotations of the motor (N). The computing part (19) estimates tightening torque Tave based on the estimate value of the first tightening torque (T1) or the second tightening torque (T2). The computing part (19) stops driving the motor (2) when the estimated tightening torque Tave exceeds a set value Tset.

Abstract: A grinding method wherein the correlation between the amount of inertial grinding occurring in performing spark-out by a grinding unit and the maximum load current in a motor of the grinding unit is grasped, and a correction value for the amount of inertial grinding corresponding to the maximum load current is preliminarily obtained. When the wafer thickness measured by a thickness measuring gauge has reached the sum of a desired value and the correction value (=the amount of inertial grinding) corresponding to the maximum load current, the spark-out is started. Accordingly, the wafer thickness becomes the desired value after the inertial grinding in performing the spark-out.

Abstract: This is to provide a computing method of motor model, a motor simulation method and a motor simulation apparatus in which high-speed real-time simulation is made feasible while saving computer resources. A motor model is formulated, motor model which uses a motor model of alternate-current motor which virtually includes the inverse matrix of an inductance matrix L(?), which is a predetermined function whose variable is a rotary angle ?, and, in the computation of this motor model, the value, which is obtained by computing a matrix ?(?) which is equal to the inverse matrix of the inductance matrix L(?), is used as the value of the inverse matrix of the inductance matrix L(?).

Abstract: A grasp state judging system capable of satisfactorily judging the grasp state in which an object to be grasped is held by grasping means. The grasp state judging system is characterized in comprising a plurality of RFID tags that are mounted on an object to be grasped and that transmit the corresponding position ID; a plurality of RFID antennas (14) that are mounted on a glove (10) and that receive the position IDs; a grabbing pattern storage unit (48) for storing a condition for the position IDs received by the RFID antennas (14) with respect to the grasp states in which the object to be grasped is held by the glove (10); and a grasp state judging unit (44) for judging the grasp state in which the object to be grasped is held by the grasping means on the basis of the position IDs received by the RFID antennas (14) and the conditions stored in the grabbing pattern storage unit (48).

Abstract: A control system used to control a controlled plant includes a main control unit, a first tuning unit, and a second tuning unit. The control system regulated by two weighting parameters of a first multiple and a second multiple, robustness and rapid response are attained, and excess of the output signal the controlled plant generates disappears or approaches zero. The control system has technical features of objective bandwidth, offsetting of low frequency disturbance, and matching of transfer functions. By designing the main control unit, the first tuning unit, and the second tuning unit, regulating the two weighting parameters of the first multiple and the second multiple, and tuning the actual system, the above technical features are obtained.

Abstract: A motor control host includes a plurality of ports, a memory, and a processing device. The memory is operable to store an enable mask defining an enablement state for each of the ports. The processing device is operable to send a first message over those selected ports having an affirmative enablement state to maintain a communication link over the selected ports and inhibit the first message for those ports having a negative enablement state. A method for configuring a motor control system including a motor control host having a plurality of ports includes storing an enable mask defining an enablement state for each of the ports. A first message is sent over those selected ports having an affirmative enablement state to maintain a communication link over the selected ports. The first message is inhibited for those ports having a negative enablement state.

Abstract: Irrespective of operation mode of systems in which predetermined axes belong to, a multi-system numerical controller is provided that freely combines axes belonging to arbitrary systems, and then simultaneously operates axes belonging to a plurality of systems in a predetermined manual mode, or simultaneously operates a plurality of axes belonging to the same system in respective manual operation modes so as to safely take interpolation control in manual operation. The numerical control apparatus includes a plurality of manual operation controllers and independent of the systems; a manual-operation-mode selecting signal provided each for the manual operation controllers; an arbitrary-axis selection signal, provided each for the manual operation controllers or manual modes, for selecting axes from any of the systems; a manual-move-speed instructing signal provided each for the manual operation controller; a manual operation reset signal provided each for the manual operation controllers.

Abstract: A riveting system is operable to join two or more workplaces with a rivet. In another aspect of the present invention, a self-piercing rivet is employed. Still another aspect of the present invention employs an electronic control unit and one or more sensors to determine a riveting characteristic and/or an actuator characteristic.

Abstract: A speed region of a motor is divided into a region lower than a first switch speed VS1, a region higher than a second switch speed VS2 and a region between the first and second switch speeds. An abnormal load determination level to be compared with an estimated load obtained by an observer is set for each of the regions. An abnormal load determination level AL4 applied when an acceleration exceeds a threshold value is set. The abnormal load determination level AL4 is used for comparison with the estimated load until a predetermined period of time elapses after the acceleration to be commanded to the motor, which once exceeded the threshold level, drops. In other cases, the estimated load is compared with the abnormal load determination level having a value according to the speed. If the estimated load exceeds the compared abnormal load determination level, it is judged that a collision is detected.

Abstract: A computer implemented method, apparatus, and computer usable program code for performing a drilling operation. The drilling apparatus comprises a housing, a spindle, a spindle motor, a thrust motor, a load sensor, and a controller. The spindle may be capable of receiving a drill bit. The spindle motor may be capable of turning the spindle at a set of different speeds during the drilling operation. The thrust motor may be capable of moving the spindle in an axial direction. The load sensor may be capable of detecting a reaction thrust force during the drilling operation to form a detected reaction thrust force. The controller may be capable of controlling the spindle motor and the thrust motor to change a drilling speed in response to changes in the detected reaction thrust force.

Abstract: Systems and methods are employed for monitoring and controlling a can necking process in a multi-stage can necking machine. Sensors are employed that communicate with local controllers. A local controller is used at each stage of the multi-stage can necking machine. The local controllers are used to perform fast processing of information from the sensors located in the stage associated with the local controller. A main controller is then used to determine drop rates. Predefined threshold rates may be used to compare with calculated drop rates. A multi-stage can necking machine may be controlled in part based on drop rates crossing threshold rates.

Abstract: An acceleration/deceleration control method of a CNC machine tool includes receiving an acceleration/deceleration timing signal and a velocity signal. The acceleration/deceleration timing signal is calculated to acquire a plurality of different first weight values and different second weight values by a first formula and a second formula. A velocity variation of the velocity signal is determined to be zero, positive or negative. The velocity signal is acquired, if the velocity variation is zero. A plurality of acceleration signals are acquired by the velocity signal multiplying each of the first weight values, if the velocity variable is positive. A plurality of deceleration signals are acquired by the velocity signal multiplying each of the second weight values, if the velocity variation is negative. The velocity signal, the acceleration signal and the deceleration signal are converted into a first driving signal, a second driving signal and a third driving signal.

Abstract: A packaging machine is described, which is equipped with sensors, actuators and drive systems, comprising a servo motor, a central control unit and a system for data transmission. The actual values of the sensors, actuators and drive systems are recorded in digital form in each case and transferred with the use of a transmission protocol via the data transmission system to the central control unit, evaluated by the latter and the determined setpoint values or control commands are also transmitted, in digital form and with the use of the transmission protocol, from the control system via the data transmission system to the actuators or drives According to the invention, it is provided that the data transmission between sensors, actuators, drives and central control unit and vice versa takes place wirelessly and the transmission protocol operates cyclically and with short cycle times, preferably in millisecond pulses.

Abstract: A system and method are provided for real-time measurement of tool forces. A relationship between a sensor characteristic and tool forces is determined by directly measuring tool forces for a standard tool, work piece, and part program. The sensor characteristic for a CNC machine at the user facility is then measured for the standard tool, work piece, and part program, providing a relationship between the sensor characteristic at the user facility and tool forces. If the sensor is not conveniently attached to the work piece or the part program is not sufficiently robust in cutting conditions, the work piece and part program are replaced by a sacrificial work piece and sacrificial part program. The sacrificial work piece and sacrificial part program are selected to accommodate the sensors and to provide sufficient robustness in cutting conditions to accurately determine the process model parameters for the sacrificial work piece.

Abstract: A filter is set by a control apparatus automatically detecting a vibration frequency and determining a filter to be needed, in a simple method that does not require a special process. A servo control apparatus which drives a servo motor includes a vibration detection section which detects vibration of a control system, and a vibration frequency measuring and analyzing section. The vibration detection section detects the vibration when the vibration is generated during driving. The vibration frequency measuring and analyzing section measures a frequency of which vibration frequency component is large. Then, a frequency of a vibration suppression filter is set based on the vibration frequency.

Abstract: In a scrubber adapted to clean a semiconductor wafer, the torque of a brush rotation motor is monitored while a scrubber brush is in contact with the wafer and is being rotated by the motor. The position of the brush relative to the wafer may be adjusted based on the monitored torque to regulate the pressure applied to the wafer by the brush. Open loop positioning or closed loop control may be employed.

Abstract: A method for determining a deviation of at least one regulating variable on chip removal machines with a mechanical drive for a tool and/or a workpiece, regulated by a control system, wherein the regulation comprises a plurality of values of at least three spatial axes for the control system and for the drive, and the values have a functional relation with the axes. A protocol is prepared from a plurality of control system actual values detected by measuring devices and/or selected drive actual values and a control system nominal value and/or a drive nominal value is calculated at least in relation to an axis, and a control system differential value and/or a drive differential value is calculated at least in relation to the axis. A chip removal machine which implements such a method is disclosed.

Abstract: The invention discloses a device and a method for producing microstructures with a spindle, which is adapted to be driven for rotation about its longitudinal axis and which is provided with a fixture for clamping a workpiece, having an actuator provided with a fast drive, in particular a piezo drive, adapted to produce fast movement of a tool in a direction substantially perpendicular to the workpiece surface, which actuator can be positioned along a workpiece surface to be worked with the aid of an additional drive adapted to produce a linear feed motion in a first direction, the fast drive being coupled with the tool via guide means that allow feeding of the tool in axial direction of the fast drive, against the action of a restoring force, and that is highly rigid in a plane perpendicular to that direction. The control technology used permits microstructures to be produced precisely and reproducibly utilizing the dynamic properties of the system.

Abstract: Techniques of performing a manufacturing operation on a workpiece are disclosed. In one embodiment, a method includes forming an indexing hole in the workpiece. A coordinating pin may be installed into the indexing hole, the coordinating pin including a quantum of indexing information. A sensor may be positioned proximate the coordinating pin. The quantum of indexing information may be sensed with a sensor. A manufacturing operation may be performed on the workpiece based at least partially on the quantum of indexing information.

Abstract: A numerical controller configured to enable machining of a conical surface such that vectors at a start point, an end point, and an interpolation point of a circular arc and their extensions never cross one another. Normal direction vectors Vnors and Vnore, tangential direction vectors Vtans and Vtane, and tool posture vectors Vts and Vte at the starting and end points are obtained based on programmed positions PA? and PB? of the starting and end points, a circle center position, and rotational positions of two rotary axes. Based on these vectors, tangential direction angles as and ae and the normal direction angles bs and be with respect to tool postures at the starting and end points are obtained. Normal and tangential direction vectors Vnori and Vtani and angles ai and bi at the interpolation point are obtained by interpolating the normal and tangential direction vectors and angles at the starting and end points, whereby a tool posture vector Vti at the interpolation point is obtained.

Abstract: In a method for increasing the control dynamics of a load driven by a direct drive via a driveshaft, a first transducer provides a first output signal indicating a first rotation speed, and a second transducer provides a second output signal indicating a second rotation speed. The direct drive is located between the first transducer and second transducer, with the second transducer being located in close proximity of the load. A mixed rotation speed is computed from a linear combination of the two rotation speed values, which is used as an actual control value of a controller of the direct drive. This method provides a very simple approach for increasing the control dynamics of a load driven by direct drive via a driveshaft.

Abstract: A method of controlling drive of a driving motor for a rotary indexing device is provided. The device includes an indexing mechanism that indexes an angular position of a circular table by rotating the circular table with the use of the driving motor as a driving source, a clamping mechanism that holds the indexed angular position, and a control unit that controls drive of the driving motor by position control. In the method, the control unit controls the drive of the driving motor during operation of the clamping mechanism with a content of control in which an output torque of the driving motor by the position control becomes smaller than an output torque by the position control during indexing of the angular position of the circular table for an equivalent positional deviation.

Abstract: A power tool control system allows a user to operate a power tool through a graphical user interface communicatively coupled with a non-contact measurement and alignment device. The graphical user interface correlates user engageable selectors with a logically related menu of power tool setting options displayed on a display screen in a high quality and easily readable format. The non-contact measurement and alignment device uses one or more lasers to determine power tool settings and establish proper alignment based on user needs. The power tool control system further enables stud detection and visual indication of stud location.

Abstract: A method for determining a change in direction of rotation of a motor includes the steps of establishing steady state operating parameters of the motor, triggering a command interrupting the rotation of the motor, estimating the speed of the motor after triggering the command and determining the instant from which the speed of the motor is below zero. This instant corresponds to the change in direction of rotation of the motor. The instant from which the motor changes direction of rotation can be determined accurately.

Abstract: In a method for robot-controlled cutting of workpieces to be joined by laser radiation, a first workpiece is arranged in vicinity of a second workpiece in a first position. A laser is focused onto the first workpiece. A contour of the first workpiece is cut with the laser beam; this contour is to be assembled and joined with the second workpiece. During cutting, a first spacing of a focal point of the laser beam from the second workpiece is repeatedly determined in a distance direction that is identically oriented during cutting and is adjusted to a direction of assembling the first and second workpieces. During cutting, a second spacing of a processing point of the laser beam from the second workpiece is maintained at a constant value.

Abstract: A material handling system with a drag mechanism including a wheel for a table saw that controls the orientation and speed of material as it moves through the system.

Abstract: It is an object of the invention to provide a reverse rotation preventing electronic cam curve generating method of an electronic cam type rotary cutter control which serves to prevent the reverse rotation of a cutter. According to the invention, there is provided an electronic cam curve parameter setting unit 28 for previously calculating a critical cutting length Ljag from which an electronic cam curve passing through a point having an acceleration of 0 and a speed of 0 is obtained by setting a rotor diameter r of a rotary cutter 5, the number of blades M disposed at regular intervals on a rotor, synchronizing speed coefficients ?1 and ?2 for regulating synchronizing speeds in cutting, and synchronizing angles ?1 and ?2, comparing the critical cutting length Ljag with a set cutting length Lset of a processed product set by an operator, and generating an electronic cam curve pattern for preventing a reverse rotation when the set cutting length Lset is greater.

Abstract: A method and system for modifying the operation a device. The method can include obtaining a first reconfiguration kit. The first reconfiguration kit can include a portable memory device. The method can also include connecting the portable memory device to the device and transmitting information between the portable memory device and the device. The method can further include disconnecting the portable memory device from the device and returning the portable memory device to an entity associated with the provider of the portable memory device.

Abstract: The disclosure comprises methods for controlling a production machine having a converter controlled drive wherein the applicable converter receives data from its associated drive as well as additional data from the machine and wherein the converter provides actuation commands to the drive and to the machine. Related systems are also disclosed.

Abstract: When a read block includes a code for setting a machine coordinate system used for exchanging a tool or the like, it is determined whether a feed rate specifying modes, set by a parameter, is (a) specification by using parameters, (b) specification by a program, or (c) specification by using an external signal input. In mode (a), the rapid traverse speed set for movement according to machine coordinate system or different feed rate set by a parameter is selected and set as feed rate F. In mode (b), a feed rate specified by a program is set as feed rate F. In mode (c), an input signal is converted into a speed which is set as feed rate F. Then the movement command according to the machine coordinate system is executed with this set feed rate F.

Abstract: A computer controlled cup forming machine is provided. The computer controlled cup forming machine has a main motor, a main controller, and a plurality of workstations having individual motors electrically connected to the main motor and the main controller. The main controller develops electrical signals of a drive or motion profile that are sent to the individual motors, and the main motor sends additional electrical signals to the individual motors to initiate the drive profiles at the individual motors. The main controller also has an input station to quantitatively control each of the individual motors.

Abstract: A CPU for a motor driving apparatus of an image forming apparatus excites a predetermined phase winding among plural phases of a stepping motor for a predetermined time period. Thereafter, before a rotation of the motor is started, it is judged whether there is the possibility of deviating a positional relationship between a rotor and a stator of the motor from a positional relationship determined by the excitation of the predetermined phase winding for the predetermined time period, by an external force, on the basis of judgement whether a door is opened for jam treatment. If the possibility of deviation is judged, the predetermined phase winding among plural phases of the stepping motor is excited again for a predetermined time period.

Abstract: End-mill machining control method and apparatus in which cutting forces tangential and normal to tool motion are detected and machining is controlled based on the detected cutting force values. A primary component Ft and motion axis components Fx, Fy of a cutting force are determined from current values of a spindle motor and motion axis motors for tool feed. A cutting-engaged angle ?en is determined from a radius R of a tool and a depth of cut I into a workpiece. A motion direction angle ? is determined from distribution motion amounts ?X, ?Y to the axes. The cutting forces Fm, Fs tangential and normal to tool motion are determined from the primary component Ft and a motion axis component Fx or Fy whichever is the largest, the cutting-engaged angle ?en, the motion direction angle ?. The accuracy of the determined cutting forces Fm, Fs is high since they are determined from the primary component Ft less affected by disturbance and the largest axis component of the cutting force.

Abstract: In accordance with a first preferred embodiment, a control method comprises monitoring a position of a motion control axis and controlling an output device responsive to the position of the motion control axis. The controlling step further includes latching a cam element that controls the output device, and unlatching the cam element that controls the output device. The manner in which the latching step is performed and the manner in which the unlatching step is performed are configurable in a programming interface. The programming interface is capable of receiving a latch position for the cam element and an unlatch position for the cam element. The programming interface is further capable of receiving additional configuration information to configure the manner in which the latching step is performed and different additional configuration information to separately configure the manner in which the unlatching step is performed.

Abstract: In a turbine apparatus comprising a runner rotatable to be rotationally driven by a water, a gain of a derivative calculation element generating a derivative component of a control signal for controlling a flow rate of the water which derivative component is to be applied to the derivative calculation element and the integration calculation element by performing differentiation on a difference between an actual rotational speed and a desired rotational speed of the runner with respect to a time proceeding has a value sufficiently increased to converge a value of the control signal toward a desired value in accordance with the time proceeding in S-characteristic portion.

Abstract: In a turbine apparatus comprising a runner rotatable to be rotationally driven by a water, a gain of a derivative calculation element generating a derivative component of a control signal for controlling a flow rate of the water which derivative component is to be applied to the derivative calculation element and the integration calculation element by performing differentiation on a difference between an actual rotational speed and a desired rotational speed of the runner with respect to a time proceeding has a value sufficiently increased to converge a value of the control signal toward a desired value in accordance with the time proceeding in S-characteristic portion.

Abstract: A motion system comprising a motion enabled device, an event source, a plurality of message transceivers, and a motion services system. The motion enabled device performs motion operations based on motion commands. The event source generates motion messages upon the occurrence of events, where the motion messages correspond to motion operations. The motion messages are transmitted among the plurality of message transceivers. The motion services system maps motion messages transmitted between the plurality of message transceivers to motion commands based on motion operations corresponding to mapped motion messages. The motion services system performs motion operations based on motion commands corresponding to mapped motion messages.

Abstract: A vacuum pump (10) includes a control device (20) for processing operational data and operational instructions. Further, the vacuum pump (10) includes a touch screen (40) serving as display for displaying the operational data callable from the control device (20) and as input for inputting operational instructions into the control device (20). The touch screen (40) includes a display panel (42) and a key panel (44) as display and the input, respectively, and is connected with the control device (20) via a data line (36). By combining the display and the input in a single device, namely the touch screen, the trouble for display and data input is reduced.

Abstract: A method and a data network for automatically configuring a parameterizing surface of at least one controller of machine tools or production machines. An actual machine topology is determined via a data network when the machine starts up and compared with stored desired machine topologies. If the actual machine topology differs from the desired machine topology, a corresponding dedicated parameterizing surface is generated from the determined actual machine topology, whereby for parameterizing the controller of the machine only the parameters and/or functions of the identified machine components are indicated to the user. In this way, a dedicated parameterizing surface matching the actual machine configuration can be easily generated.

Abstract: Based on the realization that, at the instant a holding brake in the drive of a machine tool is actuated, it may not be necessary to precisely observe the setpoint values, it may be provided to adapt control parameters in the controller of the drive such that, given an engaged holding brake, oscillations may be avoided or substantially reduced. By applying a correction value to the controller, it may be possible to prevent the adaptation of the control parameters from resulting in a change at the output of the controller.

Abstract: Apparatus, systems, and methods for monitoring the processing of a workpiece that includes directing an incident laser beam onto the workpiece and using an optical detector for measuring a signal emitted from the workpiece as a result of the incident laser beam. The detector generates at least two signals based upon the optical signal. The method also involves use of a light source monitor in determining workpiece processing quality based upon the quotient of the two outputs as well as a magnitude of one of the two quotients.

Abstract: A motion system comprising a motion enabled device, an event source, and a motion services module. The motion enabled device performs motion operations based on motion commands. The event source transmits a predetermined motion message upon the occurrence of an event corresponding to the predetermined motion message. The motion message corresponds to a desired motion operation. The motion services module maps the motion message generated by the event source to at least one motion command corresponding to the desired motion operation. The motion services module then runs the at least one motion command on the motion enabled device such that the motion enable device performs the desired operation.

Abstract: A method for configuration of a control system for an electrical switchgear assembly uses a primary device model for representation of primary devices, and a topology model of the switchgear assembly. In order to configure a first control system function, the first control system function is allocated to a primary device and to a field device, after which the primary device model and the topology model are used to automatically determine second control system functions which the first control system function requires during operation.

Abstract: A numeric control apparatus for machine tools having a moveable member which is operated by a servomotor, including a controlled system, where the controlled system includes a servomotor and a moveable member, and a model of the controlled system, having a system parameter. The numeric control apparatus also includes a command generator for generating a command value, a reference input value generating controller for transmitting a reference input value to the controlled system and to the model, in response to receiving the command value, and an analyzing section for storing a measured output of the controlled system and a measured output of the model.

Abstract: A programmable controller comprises a speed pattern generator(12) including speed pattern generator units (12a-12n) that respond to input quantities of the amount of movement, speed, acceleration time and deceleration time by calculating a desired speed pattern for output to a servomotor (17). A desired speed pattern is generated by simultaneously operating any of the speed pattern generator units (12a-12n) of the speed pattern generator (12). The speed pattern provided by the speed pattern generator (12) is output to a console (14), on which the user can process the speed pattern freely.

Abstract: Components designed for use in networked control and monitoring systems including dedicated memory objects which store data representative of the system, the component and the function of the component in the system. The component-specific information may include data indicating the physical location of the component in the system. The objects are reprogrammable to adapt to system changes. A system comprising the components allows the objects to be accessed via a data network. Controlled or monitored parameters of the components may thus be collected in association with the other data stored in the objects.

Abstract: A motor controller comprising a machine system (12) having a load machine (1), a transmission mechanism (2) for transmitting power, and a motor for driving the load machine through the transmission mechanism; a simulator unit (11) having a numeric model (9) including the machine system, a simulation control section (19) for giving a torque command to the numeric model by using an observable quantity of state of the numeric model, and an evaluating section (10) for sending a control parameter to the simulation control section and an actual control unit; and the actual control unit (18) having an actual control section which receives an observable quantity of state of an actual system and has the same structure as that of the simulator unit and adapted to supply a torque signal to the motor serving as a drive source. Therefore the control gain of a motor controller can be automatically adjusted quickly and optimally.

Abstract: A method for compensating for torque ripple in pulse width modulated machines including providing damping for transient disturbances utilizing a fixed feedback controller and rejecting steady disturbances utilizing an adaptive controller.