Abstract: The present invention is directed to the use of mobile sensors to collect temperature information used to control, inter alia, rail vehicle speed, acceleration, or scheduling.

Abstract: In the field of electronic or computerized control apparatuses, known methods of compensating for disturbance signals rely on less than ideal analytical or empirical models. There is provided a controller (200) or method of controlling which observes and learns the correlation between various measured signals and automatically learns how to control the apparatus.

Abstract: Disclosed is a system control device that includes a semiconductor element; an actual control value acquisition section; a deviation computation section for computing the deviation between the actual control value and a target control value; an integral term computation means for computing an integral term contained in a control command value; a first control command value computation section for determining the next control command value from the immediately preceding integral term and the deviation; a first feedback control section for exercising control in accordance with the first control command value; a protective control section for providing protective control while allowing the first control command value computation section to perform computations during a period during which the first feedback control section exercises control; a control command value decrease section; a termination time acquisition section for acquiring the information about the termination time for the protective control; and a t

Abstract: A controller and associated methods. A controller has an input for a controlled variable; a proportional term; an integral term; and a predictive term. The predictive term has an error-predictive subterm including at least a past value of an error; and a command-predictive subterm including at least one past value of a control command value; and an output. The controller can apply the predictive term and at least one of the proportional term and integral term to generate a command for the output. A method for controlling a process variable is also provided including applying a predictive term having an error-predictive subterm that includes at least a past value of an error and a command-predictive subterm that has at least a past value of a control command. The method further includes the step of generating a command based on the results of the applying the terms.

Abstract: A method for controlling a process, wherein the process has an input and an output, and including controlling the input to the process; predicting the output of the process based on a first set of operating parameters; predicting the output of the process based on a second set of operating parameters; updating the first set of operating parameters when a result from predicting the output from the first set of parameters differs from the output of the process by more than a predetermined amount, wherein the predetermined amount is a function the output predicted by the second set of parameters. The invention also includes apparatuses and systems.

Abstract: A temperature control scheme for a fuel cell stack thermal sub-system in a fuel cell system that uses a non-linear thermal model and disturbance rejection to provide an optimum stack temperature. The thermal sub-system includes a coolant loop directing a cooling fluid through the stack, a pump for pumping the cooling fluid through the coolant loop, and a radiator for cooling the cooling fluid outside of the fuel cell stack. The system includes a controller for controlling the speed of the pump so as to maintain the temperature of the stack at a desired temperature. The controller uses the thermal model to anticipate a temperature of the cooling fluid out of the fuel cell stack to control the speed of the pump.

Abstract: A method for identifying an approximate location of a radio frequency tag includes scanning zones of an area in an active mode at a first power level for identifying the zone in which the tag is located, and scanning portions of the zone in which the tag is located in a passive mode at a second power level for identifying the portion of the zone in which the tag is located. An RFID system includes a plurality of RFID tags and an RFID interrogator in communication with the RFID tags.

Abstract: A digital processor (2, 102) for use in a digital controller (10) is disclosed. The digital processor (2, 102) includes a coefficient product memory (22) that stores previously calculated products of filter coefficients and each of a set of available input values. The memory (22) is addressed according to a received input value, and outputs a plurality of coefficient products associated with that input value. These coefficient products are combined across time samples (with one or more coefficient products delayed for use in later cycles), to produce an output value. The digital processor (2) can be used in combination with an analog-to-digital converter (4) and a pulse-width modulated circuit (6) to control a power supply. According to another embodiment of the invention, comparators (62H, 62L) and a counter (66) can be used instead of the analog-to-digital converter, for additional efficiency.

Abstract: A system adapted for counteracting engine produced vibratory forces and isolating the forces from a body, includes active engine mounts, force or acceleration sensors, and a controller communicatively coupled to the mounts and sensors, and configured to execute an integrated open and closed-loop control method.

Abstract: The present invention comprises methods and apparatuses that can provide reliable communications between a computer and a haptic interface device. The methods and apparatuses can provide communication that is more secure against errors, failures, or tampering than previous approaches. Haptic devices allow a user to communicate with computer applications using the user's sense of touch, for example by applying and sensing forces with the haptic device. The host computer must be able to communicate with the haptic device in a robust and safe manner. The present invention includes a novel method of accomplishing such communication; a computer-readable medium that, when applied to a computer, causes the computer to communicate according to such a method; and a computer system having a host computer and a haptic device communicating according to such a method.

Abstract: A method for implementing FDC in an APC system including receiving an FDC model from memory; providing the FDC model to a process model calculation engine; computing a vector of predicted dependent process parameters using the process model calculation engine; receiving a process recipe comprising a set of recipe parameters, providing the process recipe to a process module; executing the process recipe to produce a vector of measured dependent process parameters; calculating a difference between the vector of predicted dependent process parameters and the vector of measured dependent process parameters; comparing the difference to a threshold value; and declaring a fault condition when the difference is greater than the threshold value.

Abstract: An appliance control system is described for controlling a plurality of appliances. The system includes a control station located remotely from the appliances and having a control unit for controlling the plurality of appliances, at least one client station being associated with at least one of the plurality of appliances and being adapted for allowing a user to make requests to the control station for using the at least one of the plurality of appliances, actuators connected to the control station and the at least one of the plurality of appliances for receiving control signals from the control station and controlling the at least one of the plurality of appliances, and sensors connected to the water appliance and the control station for recording information about the at least one of the plurality of appliances and providing the information to the control station.

Abstract: A controller for controlling thermal sources affecting an air temperature in a space subjected to thermal variables, including a sensor network measuring the thermal variables; a feed forward controller generating a feed forward control signal based on an adaptive model including a model of the space and a model of the thermal sources, wherein the models are formed utilizing data from the sensor network; a feedback controller generating a feedback control signal based on a difference between an output of the feed forward controller and output from the space; and a combiner combining the feed forward and feedback control signals to produce a control signal for controlling the thermal sources to control the air temperatures of the space.

Abstract: Multiple designs, systems, methods and processes for controlling a system or plant using an extended active disturbance rejection control (ADRC) based controller are presented. The extended ADRC controller accepts sensor information from the plant. The sensor information is used in conjunction with an extended state observer in combination with a predictor that estimates and predicts the current state of the plant and a co-joined estimate of the system disturbances and system dynamics. The extended state observer estimates and predictions are used in conjunction with a control law that generates an input to the system based in part on the extended state observer estimates and predictions as well as a desired trajectory for the plant to follow.

Abstract: When there exists an error between a model considered in feed-forward and an actual device, it is configured so as to enable the application of control having feed-forward such as predictive control without problem to reduce a model error. Furthermore, it is configured to enable more fine adjustment of the actual device by adjusting the balance of gains ? and ?. An operational unit is provided with an error signal calculation unit for outputting an error command and an error feedback value based on a position feed-forward signal and a position detection value, and an error compensation operation unit for controlling so that the error command and the error feedback value coincides with each other. This operational unit is provided at a control operation device.

Abstract: A method for controlling a process variable as it approaches a predetermined value (setpoint) so that the setpoint is not exceeded. The method employs a time domain polynomial equation in a feedback configuration and utilizes a controller that acts as an On/Off controller until the process variable approaches setpoint. As the process variable approaches setpoint, the controller acts as a fast responding analog controller thereby “tailoring” a control variable to precisely bring the process variable to the setpoint without exceeding or overshooting the setpoint.

Abstract: A method of creating and using an adaptive DMC type or other MPC controller includes using a model switching technique to periodically determine a process model, such as a parameterized process model, for a process loop on-line during operation of the process. The method then uses the process model to generate an MPC control model and creates and downloads an MPC controller algorithm to an MPC controller based on the new control model while the MPC controller is operating on-line. This technique, which is generally applicable to single-loop MPC controllers and is particularly useful in MPC controllers with a control horizon of one or two, enables an MPC controller to be adapted during the normal operation of the process, so as to change the process model on which the MPC controller is based to thereby account for process changes.

Abstract: A system configuration can evaluate the stability of an output from a user's control system including all effects of unknown dynamic characteristics and disturbances and can guarantee the stability of the output from the user's control system irrespective of the unknown dynamic characteristics and the disturbances. The control system is provided with a virtual power monitor and is thereby provided with a function of evaluation and analyzing the stability of an object to be controlled, and is such that in a user's control system the user's controlled object is controlled by the user's control strategy. Included is a conservative control strategy which receives a feedback signal from the user's controlled object and can input a control input to the user's controlled object; and a virtual power monitor which monitors power virtually transmitted from the conservative control strategy to the user's controlled object, and can evaluate the stability of an output from the user's control system.

Abstract: A scanner system includes a servo control unit. A rotation angle of a rotating shaft supporting a mirror is detected, and an error of the detected value with respect to a commanded value is integrated by an integral compensator so that the detected value is able to track the commanded value. A tracking error proportional compensator is disposed in parallel with the integral compensator so as to add a correction value proportional to the error to the integrated value of the error. A plurality of gains are prepared for each of the integral compensator, the tracking error proportional compensator, a detected value proportional compensator and a detected value differential compensator of the servo control unit. Each gain is changed in accordance with a travel angle of the commanded value. Thus, the mirror can be positioned quickly so that the machining speed can be improved.

Abstract: A close loop control system includes a controlled system having a controlled variable and a control variable, a first detecting unit, a second detecting unit, and a feedback control unit. The first and the second detecting units detect the controlled system to output a first and a second feedback values corresponding to the control variable. The feedback control unit controls the controlled system according to the differential value of the first or the second feedback value and a predetermined value to stabilize the controlled variable to the predetermined value. The absolute differential value of the first and the second feedback values determines if detecting units are regular. When the absolute differential value is smaller than an error value, the controlled variable is controlled according to the first feedback value. When the absolute differential value is not smaller than the error value, the controlled variable is fixed to a fixed value.

Abstract: A method and system for reducing disturbance effects on a dynamic system. The method in one embodiment processes a compensated control signal using at least one of a feedforward gain, feedthru gain and a feedback gain, and transmitting the compensated control signal to the dynamic system. An embodiment of the dynamic disturbance rejection device comprises a feedthru section with at least one input command signal that processes a feedthru output using inverse system dynamics, a feedback section with state information that processes a feedback output using inverse system dynamics, a feedforward section with disturbance information that processes a feedforward output using inverse system dynamics, and a processing unit that processes the compensated control signal for the controlled system.

Abstract: A Linear Complementarity Problem (LCP) solver is characterized by multiple execution units operating in parallel to implement a competent computational method adapted to resolve physics-based LCPs in real-time.

Abstract: In a lithographic apparatus, a feedforward transfer function of a control system, is determined by: a) iteratively learning a feedforward output signal of the control system by iterative learning control for a given setpoint signal; b) determining a relation between the learned feedforward output signal and the setpoint signal; and c) applying the relation as the feedforward transfer function of the control system. A learned feedforward, which has been learned for one or more specific setpoint signals only, can be adapted to provide a setpoint signal dependent feedforward output signal. The learned feedforward can be made more robust against setpoint variations.

Abstract: A computer system for controlling a nonlinear physical process. The computer system comprises a linear controller and a neural network. The linear controller receives a command signal for control of the nonlinear physical process and a measured output signal from the output of the nonlinear physical process. The linear controller generates a control signal based on the command signal, a measured output signal, and a fixed linear model for the process. The neural network receives the control signal from the linear controller and the measured output signal from the output of the nonlinear physical process. The neural network uses the measured output signal to modify the connection weights of the neural network. The neural network also generates a modified control signal supplied to the linear controller to iterate a fixed point solution for the modified control signal used to control the nonlinear physical process.

Abstract: The invention can provide a method of etch processing a wafer using a Real-Time Parameter Tuning (RTPT) procedure to receive an input message that can include a pass-through message, a real-time feedforward message, or a real-time optimization message, or any combination thereof. The RTPT procedures can use real-time wafer data to create, modify, and/or use etch recipe data, etch profile data, and/or etch model data. In addition, RTPT procedures can use real-time wafer data to create, modify, and/or use process recipe data, process profile data, and/or process model data.

Abstract: A method of predictive control for a single input, single output (SISO) system, including modeling the SISO system with model factors, detecting output from the SISO system, estimating a filtered disturbance from the output, determining a steady state target state from the filtered disturbance and a steady state target output, populating a dynamic optimization solution table using the model factors and a main tuning parameter, and determining an optimum input from the dynamic optimization solution table. Determining an optimum input includes determining a time varying parameter, determining a potential optimum input from the time varying parameter, and checking whether the potential optimum input is the optimum input.

Abstract: A repetitive controller scheme with two feedbacks one negative and one positive plus a negative feedforward introduces infinitely many poles on the imaginary axis located at j(6l±1)?o (l=0,1,2, . . . ,?) which produces resonant peaks tuned at 6l±1 (l=0,1,2, . . . ,?) multiples of the fundamental frequency ?o. The feedforward introduces zeros, which produce notches located at 3l?o (l=0,1,2, . . . ,?), that is, in between two consecutive resonance peaks. The latter has the advantage of making the controllers more selective, in the sense that the original overlapping (appearing at the valleys) or interaction between consecutive resonant peaks is removed by the notches. This would allow, in principle, peaks of higher gains and slightly wider bandwidth, avoiding, at the same time, the excitation of harmonics located in between two consecutive peaks. The proposed compensator composed of a negative and a positive feedback plus feedforward is especially useful when only the compensation of 6l±1 (l=0,1,2, . . .

Abstract: A close loop control system includes a controlled system having a controlled variable and a control variable, a first detecting unit, a second detecting unit, and a feedback control unit. The first and the second detecting units detect the controlled system to output a first and a second feedback values corresponding to the control variable. The feedback control unit controls the controlled system according to the differential value of the first or the second feedback value and a predetermined value to stabilize the controlled variable to the predetermined value. The absolute differential value of the first and the second feedback values determines if detecting units are regular. When the absolute differential value is smaller than an error value, the controlled variable is controlled according to the first feedback value. When the absolute differential value is not smaller than the error value, the controlled variable is fixed to a fixed value.

Abstract: Methods of controlling polishing of wafers are disclosed. In one aspect, a method may include measuring one or more pre-polish thicknesses of one or more layers of a wafer. The one or more layers may then be polished. Then a post-polish thickness of a layer of the wafer may be measured. Polishing may be controlled by using feed-forward control with the one or more pre-polish thicknesses and by using feed-back control with the post-polish thickness. Machine-accessible software to perform such methods are also disclosed as are systems in which such methods may be implemented.

Abstract: A graphical user interface communicatively coupled with a non-contact measurement and alignment device enables user control over and display of the readings from the non-contact measurement and alignment device. In operation with a power tool, the graphical user interface provides a user with selectable control over the power tool through the computation and display of multiple power tool settings.

Abstract: Systems and methods for urging a valve plug off a seat of a control valve and toward a set point in the absence of significant delay. Adjustable, user-selected input parameters to the input of a lead-lag filter in communication with the input of a control loop facilitates achieving tunable response by a control valve upon application of small amplitude inputs.

Abstract: A PID parameter adjustment device includes: a model storage section (1) for storing an equation model to be controlled; a PID controller storage section (2) for storing a control algorithm; a constraint condition storage section (3) for storing a constraint condition for the operation; a simulation operation section (5) for executing simulation of a control system according to the constraint condition; an ideal control result storage section (6) for storing an ideal control response characteristic; an evaluation function operation section (7) for calculating the evaluation function value indicating the closeness between the simulation result and the ideal control response characteristic; and a PID parameter search operation section (8) for executing simulation while modifying the PID parameter and searching a PID parameter at which the evaluation function value is optimal.

Abstract: A method for controlling the temperature of a coolant supplied to a process, such as a semiconductor process. The method provides for chilling a coolant to a predetermined temperature, controlling the coolant at the predetermined temperature and delivering the coolant to the semiconductor process. The method includes feedback and feed-forward control algorithms to control the temperature to within about ±0.1° C. under steady state conditions and to within about ±0.75° C. under maximum heat loading and unloading conditions. The invention may be used in any fluid or component temperature control application (e.g. semiconductor, pharmaceutical, or food applications).

Abstract: A feedback controller performs a feedback control based on an error between a target position and an actual position of a head. A model controller obtains a control command, a model position to be output as a command for the target position to the feedback controller, and a model velocity for the head to follow a target velocity, by using a preset control equation model, and obtains the control command and the model position with the target position as an input, based on a differential value of the target velocity corresponding to a remaining distance from the model position to the target position.

Abstract: A lithographic apparatus comprising a control system, such as a motion control system, is presented. The control system includes an actuator for moving a moveable part, a feed-forward path from a setpoint input of the control system to the actuator, a feed-back loop, a feed-forward transfer function of the feed-forward path having a feed-forward transfer function part which is an inverse of a part of the actuator transfer function having a stable inverse, the actuator transfer function including a part having a stable inverse and a remainder potentially having an unstable inverse. The setpoint path includes a setpoint delay function, and the feed-forward transfer function further includes a second feed-forward transfer function part. A difference in delay between the setpoint delay function and the second feed-forward transfer function part is equal to a delay of the potentially unstable remainder of the actuator transfer function.

Abstract: A method to adjust a boiler having a flue gas duct including: sensing flue gas emissions in the gas duct with a plurality of emission sensors arranged in an array; generating a multidimensional graphical depiction of the flue gas emissions by plotting sensor data captured from the emission sensor; adjusting the boiler to modify the distribution of flue gases in the gas duct; generating a subsequent multidimensional graphical depiction of the flue gas emissions by plotting sensor data captured subsequent to the boiler adjustment, and repeating these steps until the graphical depiction displays an acceptable plot of flue gas emissions.

Abstract: A digital control device for tracking a sine wave according to the present invention has a compensator, a control object and a feedback gain. An input into the compensator is a signal obtained by subtracting a control quantity from a reference value. An input into the control object is a signal obtained by subtracting an output of the feedback gain from an output of the compensator. A transfer function of the compensator is (k2z+k1)/(z2?2z cos ?T+1), where ? is an angular frequency, T is a sampling period, z is a z operator, and k1 and k2 are constants. Thus, a second-order compensator can be configured, with which a sinusoidal reference waveform can be tracked simply and with high accuracy.

Abstract: In accordance with an embodiment of the present invention, a method for haptic sculpting of a physical object using a haptic device comprises defining a haptic object for aiding in the sculpting of the physical object, dynamically modifying a configuration of the haptic object in response to a medical device coupled to the haptic device being in proximity to the haptic object, and providing haptic cues to guide a user of the medical device in sculpting at least a portion of the physical object corresponding to the haptic object.

Abstract: In accordance with an embodiment of the present invention, attractive haptic objects are associated with a target region for performing a medical procedure and repulsive haptic objects are associated with anatomical features to be avoided during the medical procedure. A surgeon may perform surgical planning by moving the haptic device around. The surgeon moves the haptic device until a pose is found where haptic cues from the attractive haptic objects are active indicating that a medical device if attached to the haptic device would reach the target region, and haptic cues from the repulsive haptic objects are inactive indicating that the medical device would not penetrate any of the anatomical features to be avoided. During the planning process a virtual tool may be displayed on a display device to indicate the position and/or movement of the medical device if the medical device had been coupled to the haptic device.

Abstract: A modular formulation of model predictive controller is proposed by this invention (400). The modular formulation offers a robust model predictive controller with unified method of tuning. Explicit use of material and energy balance provides stable and robust performance (412). Use of economic based tuning offers a unified tuning method (411). The unified tuning method establishes consistency of control actions resulting from the steady state optimization and the dynamic control (400). Further, a method for formulating and tuning integrated optimization and control using multiple modular model predictive controllers is presented in this invention (100). The method incorporates a direct and explicit method of integration of a number of modular model predictive controllers. The integration of the modular controllers is achieved seamlessly without requiring any further tuning adjustments (200).

Abstract: A method and system are disclosed for controlling a process by establishing a control factor for a proportional-integral-derivative (PID) controller used to control a parameter of a process relative to a setpoint. A feedback signal regarding the parameter of the process is received via a sensor of the process and a first feedback loop. Automatic adjusting of the control factor of the PID controller is based on the feedback signal.

Abstract: A method for synchronizing data utilized in a redundant, closed-loop feedback control system is disclosed. In an exemplary embodiment, the method includes configuring a plurality of control nodes within the control system, with each of the plurality of control nodes transmitting and receiving data through a common communication bus. At each of the plurality of control nodes during a given control loop time T=N, the receipt of externally generated data with respect to each control node is verified, the externally generated data having been generated during a preceding control loop time T=N?1. At each of the plurality of control nodes during the given control loop time T=N, output control data is calculated using the externally generated data. During the given control loop time T=N, the calculated output control data from each individual control node is further transmitted over the communication bus to be later utilized by other control nodes during a subsequent control loop time T=N+1.

Abstract: A system and method for implementing an indirect controller for a plant. A plant can be provided with both a direct controller and an indirect controller with a system model or a committee of system models. When the system model has sufficient integrity to satisfy the plant requirements, i.e., when the system model has been sufficiently trained, the indirect controller with the system model is automatically enabled to replace the direct controller. When the performance falls, the direct controller can automatically assume operation of the plant, preferably maintaining operation in a control region suitable for generating additional training data for the system model. Alternatively, the system model incorporates a committee of models. Various types of sources for errors in the committee of models can be detected and used to implement strategies to improve the quality of the committee.

Abstract: A method for controlling a voltage mode controlled electric machine comprising: receiving a torque value representative of a desired torque; obtaining a speed value indicative of a rotational velocity of the electric machine; acquiring a phase advance value indicative of a desired phase advance angle; generating a voltage command responsive to the torque value, the position value; the generating is responsive to the torque value, the speed value, and the phase advance value.

Abstract: A force-feedback input device includes an operation section to be operated by an operator; a position detection section for detecting the operating state of the operation section; a force-feedback generation section for applying force feedback to the operation section; an external device, and a haptic commander for controlling the driving of the force-feedback generation section on the basis of position information output from the position detection section and part data transmitted from the external device, and applying predetermined force feedback to the operation section according to the operating state thereof. The haptic commander includes a part data storage section for storing the part data transmitted from the external device, and a part data management table for managing the enabled and disabled states of each piece of the part data stored in the part data storage section.

Abstract: An apparatus and method is disclosed for automatically controlling single-input-multi-output (SIMO) systems or processes. The control output signals of a plurality of single-input-single-output (SISO) automatic controllers are combined by a combined output setter so that these SISO controllers are converted to a multi-input-single-output (MISO) automatic controller based on certain criteria; and its resulting controller output signal is able to manipulate only one actuator to control a plurality of continuous process variables or attempt to minimize a plurality of error signals between the setpoints and their corresponding process variables.

Abstract: A method for controlling a non-linear process includes the steps of first providing a controller that is operable to receive inputs representing measured variables of the process and predicting on an output of the controller predicted control values for manipulatible variables that control the process. An expert system is provided that models the actions of an operator of the process over an operating region of the process that represents a set of rules for actions to be taken by an operator upon the occurrence of predetermined conditions in the operation of the process. The operation of the controller is modified with the expert system when one of the predetermined conditions exists.

Abstract: An adaptive interface for a programmable system, for predicting a desired user function, based on user history, as well as machine internal status and context. The apparatus receives an input from the user and other data. A predicted input is presented for confirmation by the user, and the predictive mechanism is updated based on this feedback. Also provided is a pattern recognition system for a multimedia device, wherein a user input is matched to a video stream on a conceptual basis, allowing inexact programming of a multimedia device. The system analyzes a data stream for correspondence with a data pattern for processing and storage. The data stream is subjected to adaptive pattern recognition to extract features of interest to provide a highly compressed representation which may be efficiently processed to determine correspondence.

Abstract: A foam level in a delayed coking drum is detected by utilizing the varying density of the boiling mass in the coke drum which has larger bubbles and is less dense at the top and smaller bubbles and a higher density at the bottom. A plurality of radiation detectors are disposed on the drum and calibrated such that zero radiation is equivalent to 100 percent level. The percentage reading for each detector is multiplied by the fraction of height each detector is in relation to the total height of all the detectors to give a product and the products summed to give a level.

Abstract: A method for controlling a controlled process in response to an input signal and a disturbance signal includes modeling the controlled process in a process model; controlling the process model by a first controller; isolating the first controller from the disturbance signal so that the first controller may be designed for an optimal response to the input signal; driving the first controller by a first drive signal proportional to the difference between the input signal and a process model output signal; isolating a second controller from the input signal so that the second controller may be designed for an optimal response to the disturbance signal; and driving the second controller by a second drive signal proportional to difference between a process output signal and the process model output signal.