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Hierarchical control has been applied in many industries, including steel mills, oil refineries, chemical plants, glass works, and automated manufacturing. Most applications have been limited to two or three levels of hierarchy, however. The lower levels usually consist of tight servo loops, with bandwidths on the order of 1 kHz. The upper levels typically control production planning and scheduling events measured in units of days or weeks. A five-level hierarchy for a flexible manufacturing facility is as follows: The lowest level (level 1) handles servo control of robotic manipulator joints and machine tool degrees of freedom. The second level performs activities such as coordinate transformation in machine tools, which are required in generating control commands for various servo loops. The third level converts task commands into motion trajectories (of manipulator end effector, machine tool bit, etc.) expressed in world coordinates. The fourth level converts complex and general task commands into simple task commands. The top level (level 5) performs supervisory control tasks for various machine tools and material-handling devices, including coordination, scheduling, and definition of basic moves. Suppose that this facility is used as a flexible manufacturing workcell for turbine blade production. Estimate the event duration at the lowest level and the control bandwidth (in hertz) at the highest level for this type of application.
Write this relationship in dimensionless form. A model windmill, of diameter 50 cm, develops 2.7 kW at sea level when V =40 m/s and when rotating at 4800 r/min.
A home buyer obtains a mortgage of $100,000 at an interest rate of 8% over 20 years. Estimate the annual payments to repay this loan.
a hot air balloon travels with the wind. the wind velocity is v6i 10j ms for the first hour and then it is 10i 5j ms
Draw a graph of system head and fluid power against flow rate on one sheet of graph paper, using the values determined in(c)
The signpost of a fast food restaurant consists of a hollow steel cylinder of height h, inside diameter d, and outside diameter D, fixed to the ground and carries a concentrated mass M at the top.
Assuming 15 percent of the heat generated is dissipated from the components to the surroundings by convection and radiation, and the remaining 85 percent is removed by the cooling water, determine the amount of heat generated by the electronic dev..
A liquid has a density of 500kg/m^3 and a specific heat of .02 KJ/kg*K. The Liquid fills a rigid container, that is insulated ( no heat transfer ), from a line at P=313kPa and T = 135C. What is the final temperature of the liquid when the container i..
Determine the minimum power required to run this heat pump if heat is extracted from
A reservoir of water is drained by a 10-inch-diameter, square-edged orifice with center at elevation 289.12 that flows directly into a stream with water surface at elevation 293.59. The elevation of the reservoir surface is 296.85. Find the flow ..
A hollow rectangular column at external dimensions 300 x 220 mm. the thickness of column is 40 mm. a vertical load of 30 kn acts on at an eccentricity of 36 mm from C.g. of the section in a plane bisecting shorter side. Find the maximum and minimu..
Force and Torque on a Dam. A dam has the shape of a rectangular solid. The side facing the lake has area A and height H. The surface of the freshwater lake behind the dam is at the top of the dam.
A free vortex with a circulation C and a sink with a flow rate m are place at a height h above a solid plane. Assuming inviscid flow, determine a) the flow velocity at points A and B; b) the difference between the pressures at the points.
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