Control Algorithm

The goal of this paper is the development of control algorithms for the management of an automated warehouse system. As usual, the implementation of a control algorithm requires three preliminary steps: development of a reliable model; design of control procedures according to some optimality criteria; validation of these control procedures. As for modelling, a new level in the control architecture, namely an optimizer system, is introduced which performs real-time optimization thus simplifying the low-level control and improving the overall performance. In this context, the role of a detailed model of the whole warehouse is discussed and such a model is built up by using the colored timed Petri nets framework. As for control, we propose two control algorithms, derived under the simplifying continuity assumption of the rack locations, to optimize the operations of the cranes (moving within the aisles of the warehouse) and the operations of the shuttle (moving on a straight line placed between the aisles and the picking/refilling area), respectively. To evaluate the performance of the proposed control algorithms we define three different cost indices. As for the validation, extensive simulations are performed on the model in order to prove the effectiveness of the proposed control algorithms. A further validation of the algorithms has been performed on a test bed in order to take into account communication delays and computation times. Finally, the proposed architecture and control algorithms have been applied to a real plant. r

In this paper, hybrid control synthesis is proposed for a class of 2-degrees-of-freedom (DOF) underactuated mechanical systems with Coulomb friction in the joints. The control objective is to regulate both actuated and unactuated joints to desired positions. The proposed synthesis combines second-order sliding-mode (SOSM) control methods and a pure technical solution of imposing a relatively stronger dry friction on the unactuated joint as compared to that of the actuated joint. This design feature allows us to decouple the hybrid synthesis procedure into two steps. At the first step, a SOSM control algorithm is utilized to drive the unactuated link to the desired position in finite time. Once this task is achieved, the control input is switched to another SOSM algorithm which drives the actuated link to its desired position. As the amplitude of the controller used at the second step is smaller than the Coulomb friction level in the unactuated link, but it is greater than that in the actuated link, the unactuated link remains at rest, whereas the actuated link is regulated to the endpoint of interest. Performance issues of the developed synthesis, including robustness features of the closed-loop system, are illustrated in an experimental study made for a laboratory horizontal 2-DOF pendulum.

In a today's internet end system, the congestion and flow control of every TCP connection is done separately. This means that every TCP sender of the TCP connections of an end system has to determine current information about the network for itself and independently from other TCP senders. Due to TCP's congestion control and timer management, i.e., the slow start algorithm and timeout timer calculation, this can lead to suboptimal network utilization. In addition, separate control reduces fairness between simultaneous TCP connections. Both effects are caused by several TCP senders' different perception of current network conditions. Therefore, it might be an interesting idea to reuse network information in an end system: information collected by existing TCP connections could be used to initialize control variables of new TCP connections with more up-to-date values. This can improve the overall network utilization of and the fairness between the TCP connections of an end system.

The purpose of the paper is to illustrate the remote control of hardware in the laboratory for educational purposes, using commercial off-the-shelf equipment and available freeware. The goal is to eliminate extensive programming using high-level languages, such as Java programming to achieve remote connectivity, and focus on the primary task of implementing control algorithms. The use of MS NetMeeting for Internet-based control is described. Control experiments were easily carried out by a remote user, using Matlab-based real-time tools and MS NetMeeting.

This paper presents a novel approach for the design and simulation of variable-speed drives when the control algorithm is to be implemented in an Field Programmable Gate Array (FPGA). The specialized Simulink tools used and the design procedure are presented. An ...

Page 1. ORIGINAL ARTICLE Design of an advanced incremental fuzzy logic controller for laser surface heat treatments José Antonio Pérez & José Luis Ocaña & Carlos Molpeceres Received: 5 July 2006 /Accepted: 7 November ...

A NPID (nonlinear PID) control algorithm is applied to a class of truck ABS (anti-lock brake system) problems. The NPID algorithm combines the advantages of robust control and easy tuning. Simulation results at various situations using TruckSim show that NPID controller has shorter stopping distance and better velocity performance than the conventional PID controller and a loop-shaping controller

of the lower body, as blood from the upper part of the body shifts into these lower vessels. The pooling of blood in the lower extremities translates into reduced cardiac output Cardiovascular system reflexes respond by increasing heart rate to maintain adequate blood flow to the central nervous system in an attempt to preserve normal brain function. The physical symptoms of+Gzstress range from peteChial hemorrhages to loss of vision and, eventually, G-induced loss of consciousness (G-LOC), with its potentially fatal consequences. G-LOC is considered to be a random event. To date, no physiologic vari­ able has been defmitively linked with a "predisposition to G-LOC." In a 1986 survey, 12% ofNavy pilots reported G-LOC in flight; the U.S. Air Force report­ ed 18 accidents (14 fatalities) due to G-LOC (1982-90). The goal of current G­ LOC research is its prediction in flight to either avoid it or implement a pilM/air­ craft recovery. The Naval Air Warfare Center Aircraft Divi...

Three control algorithms (modified multivariable Smith predictor, internal model control (IMC) and generalized predictive control (GPC)) were applied to the benchmark problem. All the algorithms developed worked well for the linearized case. For the nonlinear benehrnark problem, all except one of the performance specifications were met. The sinusoidal retention level variation caused difficulties. The state of the art in retention control, however, is such that this sort of disturbance can be controlled by other means.

This paper presents the design and analysis of a parallel connected inverter configuration of. The configuration consists of parallel connected three-phase dc/ac inverter. Series resistors added to the inverter output to maintain same current in each inverter of the two parallel inverters, and to reduce the circulating current in the parallel inverters to the minimum. High frequency third harmonic injection PWM (THIPWM) employed to reduce the total harmonic distortion and to make maximum use of the voltage source. DSP was used to generate the THIPWM and the control algorithm for the converter. Selected experimental results have been shown to validate the proposed system.

In the food industry pasteurisation is very commonly carried out using plate heat exchangers. Steady-state analysis of, and experimentation into, the effects of disturbances on the temperatures showed that temperature approach (water inlet temperature minus milk outlet temperature) changed very little. This showed that control based on a steady temperature approach could be effective. A control algorithm that calculates the

The robot has to identify and manipulate objects lying on this table. We evaluated the total object recognition performance and compared the effectiveness of different feature sets. The approach showed very encouraging results and meets real-time constraints.

This paper deals with a vector control of n-phase permanent magnet synchronous machine. To use control algorithms already developed for sine-wave 3-phase machines, the spectrum of back electromotive force (EMF) must contain only odd 2k+1 harmonics which verify the following inequality, n k < + ≤ 1 2 1 . In an experimental vector control of a 5-phase drive, two usual algorithms of sine-wave 3-phase machine are thus used to supply a machine with trapezoidal waveform back EMF. In this case, the first and third harmonics are used to produce torque: the other harmonics, and particularly the 7 th one, induce effects as torque ripples and parasitic currents.

In this paper, a structure-specified mixed H2/H∞ controller design using particle swarm optimization (PSO) is proposed for control balancing of Bicyrobo, which is an unstable system associated with many sources of uncertainties due to un-model dynamics, parameter variations, and external disturbances. The structure-specified mixed H2/H∞ control is a robust and optimal control technique. However, the design process normally comes up with a complex and non-convex optimization problem which is difficult to solve by the conventional optimization methods. PSO is a recently useful meta-heuristic search method used to solve multi-objective and non-convex optimization problems. In the method, PSO is used to search for parameters of a structure-specified controller which satisfies mixed H2/H∞ performance index. The simulation and experimental results show the robustness of the proposed controller in compared with the conventional proportional plus derivative (PD) controller, and the efficiency of the proposed algorithm in compared with the genetic algorithm (GA).

This paper outlines a novel approach to model and control the internal dynamics of energy and mass transfer in an imperfectly mixed uid. The essential element in the approach lies in the extension of a complex CFD simulation model with a simpliÿed, low-order representation of the process using a mathematical identiÿcation technique. The reduced-order model that characterises the dominant modes of dynamic behaviour forms an excellent basis for on-line model-based control purposes. Most control algorithms are designed based on experimental time-series data, unlike the others this paper discusses a methodology to use numerical predictions for controller development. This has important practical advantage for control applications especially when experimentation is di cult or in some extreme cases impossible. Furthermore, the inspiration of using numerical predictions instead of experimental time-series data allows designing virtual climate control systems, which launches new possibilities to large number of applications. In this paper, the general methodology will be elaborated using multiple-input-multiple-output (MIMO) ventilation system, and later on the approach will be applied for a single-inputsingle-output (SISO) ventilation system. ?

Page 1. ORIGINAL ARTICLE Design of an advanced incremental fuzzy logic controller for laser surface heat treatments José Antonio Pérez &amp;amp;amp; José Luis Ocaña &amp;amp;amp; Carlos Molpeceres Received: 5 July 2006 /Accepted: 7 November ...

This work presents a brief review of some selected knowledge-based approaches to electrocardiographic (ECG) pattern interpretation for diagnosing various malfunctions of the human heart. The knowledge-based approaches discussed here include modeling an ECG pattern through an AND/OR graph, a rule-based approach and a procedural semantic network (PSN) based approach for ECG interpretation. However, certain syntactic approaches to ECG interpretation are also covered, considering their precursory roles to knowledge-based ECG interpretation. A fuzzy-logic-based approach is included in the discussion to show how imprecision can be dealt with in modeling cardiological knowledge. A domain-dependent control algorithm is discussed to show how the production level parallelism can be exploited to reduce the length of the match}resolve}act cycle of a rule based ECG interpretation system. The review also contains a brief description of some recent applications of connectionist approaches to ECG interpretation. This discussion "nally ends with a comparative assessment of performances of all the above-mentioned knowledge-based approaches to ECG interpretation and some hints about the future directions of work in this "eld. : S 0 0 3 1 -3 2 0 3 ( 9 9 ) 0 0 0 6 5 -5

With the entry of Tasmania into the national electricity market, equipment upgrades are required in many parts of the existing power system. This presents an opportunity to embrace new technology, in order to enhance the current efficiency and productivity of the system. One area is that of hydro-turbine speed governors, an integral part of maintaining the frequency of the output. This paper analyses the current standard control algorithm for turbine governors, the PID controller. It illustrates the processes involved, tuning and their limitations. Finally, alternative control systems are discussed.

Carrying out an autonomous object prehension task, needs some active interaction with the environment, which only could be done with sensory integration on the robot tools. A study of the contact force control performed with tactile feedback in a low cost servo-controlled parallel jaw gripper is presented in this article. This gripper integrates matricial tactile sensors and proximity sensors. Considering the nonlinear nature of the control system, hybrid control strategies were used, inter-relating classical digital control strategies with heuristic rules and logic. Two control algorithms were studied, and experimentally validated in a force-compliant mechanical system: hybrid proportional controller; hybrid proportional integral and derivative controller.

In practical decentralized hybrid energy systems, there are often different renewable/conventional generators and battery storage. An over sizing of the system components significantly elevates the overall cost of the hybrid energy system. In this context the correct and cost effective system sizing as well as efficient system operation is important. In order to determine the optimal sizing of system components, a mixed integer linear mathematical programming model (time-series) has been developed, based on the evaluation of optimized system unit cost for a hybrid energy generation system consisting of small/micro hydro, biogas, biomass, photovoltaic array, a battery bank and a fossil fuel generator. An optimum control algorithm written in C++, based on combined dispatch strategy, allowing easy handling of the models and data of energy system components is presented. The sizing result of the components is based on a trade-off between the optimized cost of the system and other techno-economics parameters, as determined by the algorithm in conjunction with a time-series model. To demonstrate the use of model and algorithm, an application example is also presented.

Industrial LCL-based grid converters using an active rectifier need to be designed in view of robustness, stability and high efficiency. In this paper the design of an active rectifier that does not need damping whether passive or active is described. This allows obtaining stability without the decrease of the efficiency typical for the passive damping methods or the increase of cost due to more sensors or more complex control algorithms that is typical for the active damping methods. This has been achieved with a careful choice of sensor position and of the passive elements in the LCL-filter. In fact if the current sensors are on the grid side, rather than on the converter side, the current loop is much more near to the stability. Moreover, if the grid side inductance is a fraction of the converter side one, the current loop is again much more near to the stability. Thus, with a proper design the system can be made stable at some switching frequencies even without any damping.

Laboratories, which are found in all engineering and science programs, are an essential part of the education experience. Perhaps the simplest solution is to use a USB webcam to broadcast a picture to a remote third-party image-hosting location and access that picture through a separate browser window. However, this solution would depend on the remote image-hosting site for connection speeds, and the picture would not appear in the same window as the LabVIEW program.

This paper analyses the problem of the autonomous control of a satellite in Low Earth Orbit (LEO) using an optimum controller. The type of controller considered is a standard Linear Quadratic Regulator (LQR). As the problem can also be treated as a two-satellites-formation control in which there is no cancellation of the common perturbative forces, its formulation is similar to that used in formation flying control problems. The driving orbit control requirement is to keep the satellite orbit within a maximum absolute distance of 250 m (r.m.s.) from a sun-synchronous, phased and frozen reference orbit. The control action is realized by means of in-plane and out of-plane thrusts whose cost is minimized by the optimal solution of the control problem. The PRISMA dual satellite mission flight software development and test environment is used as a first test-bed to validate the control algorithms. The PRISMA flight software and test environment allows a very realistic validation of the proposed control techniques. The TerraSAR-X mission scenario is use as a second test-bed for the validation of the control algorithm as it is a very representative example of LEO satellite for Earth observation with high demanding orbit control accuracy requirements.

This paper addresses robust observer based H∞ control problem for Takagi-Sugeno fuzzy systems with timevarying norm bounded uncertainties. Sufficient relaxed conditions for synthesis of a fuzzy observer and a fuzzy controller for T-S fuzzy systems are derived in terms of a set of linear matrix inequalities (LMIs). In comparison with the existing techniques in literature, the proposed approach considerably simplifies the design procedure and gives in only one step the controller and the observer gains. The observer and controller designed are capable to reject the disturbance assumed known but norm bounded. In order to highlight the performance of the proposed control algorithm, numerical simulations are performed.

The current generation of macroscopic and microscopic simulation packages do not realistically model the operation of modern traffic signal control equipment. Consequently, there is a need to develop cost effective procedures for evaluating state of the practice traffic signal control equipment so that informed deployment and design decisions can be made. In order to achieve that objective, this paper presents the motivation for using hardware-in-the-loop simulation procedures. Hardware-in-the-loop simulation presents a new set of challenges for traffic engineering model developers as the "correctness" of a realtime model not only depends upon the numerical computation, but the timeliness with which the simulation model interacts with external control equipment. This paper reviews the state of practice, summarizes the fundamental technologies necessary for implementing such a system, and uses a simple statistical test for assessing the real-time errors introduced into a simulation model.

For a diabetes mellitus patient, tight control of glucose level is essential. Results are reported of an investigation of the suitability of existing wearable continuous insulin infusors controlled and adjusted by a control algorithm using continuous glucose measurements as input to perform the functionality of an artificial pancreas. Special attention was given to the development of a continuous glucose monitor and to evaluate which quality of input data is necessary for the control algorithm. In clinical trials, it was found that for patients in a controlled environment an autonomously regulating control algorithm leads to an improved adjustment of patient glucose values and less overall insulin infusion as compared with the best fixed preprogrammed insulin infusion profiles of standard pump therapy. For the limited number of cases studied here, functionality of the control algorithm could tolerate some delay between the actual glucose values in the patient interstitial fluid and the algorithm input of up to 30 min. A quasicontinuous glucose measurement delivering actual glucose values every 5-10 min seems to be suited to control an artificial pancreas.

En este trabajo se presentan el diseño y las características de un Levitador Magnético construido en el Instituto de Ingeniería Eléctrica de la Facultad de Ingeniería (Universidad de la República, Uruguay) y que se encuentra en operación desde hace cinco meses. El propósito de este equipo es servir como ayuda en la enseñanza del control automático, permitiendo que el estudiante realice el ciclo completo de ingeniería de un sistema de control (modelado, diseño, simulación y verificación experimental). Al mismo tiempo, este equipo sirve como banco de pruebas para la experimentación de técnicas de modelado y control, vinculado a trabajos de investigación dentro del Instituto. El objetivo de control consiste en mantener en levitación una esfera hueca de metal mediante la acción de un campo magnético. Este campo es generado al circular por una bobina una corriente de valor rms controlado. La posición de la esfera es medida por métodos ópticos y adquirida por una computadora personal. El algoritmo de control es implementado por programa en la PC. La planta a controlar es inestable y fuertemente no lineal, apropiada para la aplicación de herramientas de diseño avanzadas. Se exponen también los resultados experimentales obtenidos con técnicas clásicas de control.

This paper presents an innovative traffic signal control algorithm, the IntelliGreen Algorithm (IGA), that utilizes IntelliDrive technologies to improve the efficacy of traffic signals. The IGA is fully decentralized and takes a novel approach to traffic signal control using k-means clustering. A VISSIM model of a real-world arterial was used to evaluate the IGA and its performance was compared to that of an actuated timing plan. The IGA consistently improved traffic mobility, and sustainability as volumes increased, even at lower IntelliDrive market penetration levels. The results demonstrate the power of IntelliDrive data and that decentralized traffic signal control can achieve system-wide benefits at lower computational costs.

Electric mobility is considered as a promising option for future individual transportation in terms of lower -emissions and reduced dependence on fossil fuels. In order to analyze its impacts effectively, an agent based model is proposed. It integrates three domains which are mainly affected by electric mobility. Vehicle fleet evolution and vehicle energy demand simulations are combined with a transportation simulation, thus determining the daily behavior of electric vehicles and providing individual battery energy levels at the different locations of the vehicles during the day. Further, a power system model combined with a charging control algorithm is included in order to study general effects in electricity networks and to provide insights into new electric vehicle load patterns, as well as into changes in transport behavior. It is shown that network congestion can be mitigated using control signals. The paper describes the method and the integration of the three different domains and shows results of the integrated analysis tool.

We present a formal verification of a control algorithm from the literature for a four-cylinder four-stroke engine in the cutoff mode. The controlled system is modeled, simulated and verified using CheckMate, a tool for formal verification of hybrid systems developed at Carnegie Mellon University. CheckMate automatically constructs a polyhedral-invariant hybrid automaton (PIHA) from a Matlab/Simulink model of the hybrid system and performs the verification using discrete model approximations. This case study illustrates how verification can be performed directly on a model of the hybrid system dynamics without first constructing an approximation to the continuous dynamics using timed automata or so-called linear hybrid automata models.

The stabilization of fluid catalytic cracking reactors is tackled in this paper. A robust PID control law is developed in order to control the outlet reactor temperature. The suggested control is based on a reduced order model of the reactor given by a system of ordinary differential equations. The controller is synthesized using an input/output linearizing control law coupled to a proportional-derivative reduced order observer to infer on-line the unknown heat of reaction. The proposed control algorithm leads to a classical PID structure. New tuning rules are given, based on the system structure, estimations and closed-loop time constants. This control strategy turns out to be robust against model uncertainties, noisy temperature measurements and set point changes. The performance of the reaction temperature in a tubular riser reactor is numerically compared when the proposed control scheme and standard PID controllers are applied. #

A novel actuator system which has achieved increased popularity to provide these advantages such as high strength and power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available, cheap power source, inherent safety and mobility assistance to humans performing tasks has been the utilization of the pneumatic artificial muscle (PAM) manipulator, in recent times. However, the complex nonlinear dynamics of the PAM manipulator makes it a challenging and appealing system for modeling and control design. The problems with the time variance, compliance, high hysteresis and nonlinearity of pneumatic systems have made it difficult to realize precise position control with high speed. In order to realize satisfactory control performance, the effect of nonlinear factors contained in thePAM manipulator must be considered. The purpose of this study is to improve the control performance of thePAM manipulator using a nonlinearPID controller. Superb mixture of conventionalPID controller and the neural network, which has powerful capability of learning, adaptation and tackling nonlinearity, brings us a novel nonlinearPID controller using neural network. This proposed controller is appropriate for a kind of plants with nonlinearity uncertainties and disturbances. The experiments were carried out in practicalPAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through the experiments, which suggests its superior performance and disturbance rejection.

A wind speed sensorless neural network (NN) based maximum power point tracking (MPPT) control algorithm for variable speed wind energy conversion system (WECS) is proposed. The proposed method is developed using Jordan type recurrent NN which is trained online using back-propagation. The algorithm, without requiring the knowledge of wind speed, air density or turbine parameters, generates at its output the optimum speed command for the speed control loop of the vector controlled machine side converter control system using only the instantaneous power as its input. The output of the NN is fed into a state input after a unit step delay completing the Jordan type recurrent neural network. The proposed concept is analyzed in a grid connected direct drive variable speed permanent magnet synchronous generator (PMSG) WECS with a back-to-back frequency converter. Vector control of the grid side converter is realized in the grid voltage vector reference frame. Simulation is carried out in order to verify the performance of the proposed controller.

This paper is devoted to the development of a fast industrial design of an embedded fuzzy controller for an OL unstable plant starting from an initial fuzzy system developed in conjunction with an expert. Through prototyping and implementation on a general-purpose microprocessor the CL plant can then be tested and used to iteratively identify and control the plant until the desired control system criteria is achieved. This paper describes the design, implementation and testing of an embedded fuzzy controller as a simple, practical solution to a regulation problem in reefer refrigeration systems. Fuzzy logic was utilized for the ease with which it enables expert opinion expressed within the framework of a natural language to be converted into a PID-like control algorithm. By using the Motorola HC12 MCU with its inbuilt fuzzy logic instruction set a rapid prototype design was implemented and the application of fuzzy logic and iterative identification and control to general industrial refrigeration systems was found to be a possible economically feasible solution.

A hybrid electric vehicle simulation tool (HE-VESIM) has been developed at the Automotive Research Center of the University of Michigan to study the fuel economy potential of hybrid military/civilian trucks. In this paper, the fundamental architecture of the feed-forward parallel hybrid-electric vehicle system is described, together with dynamic equations and basic features of sub-system modules. Two vehicle-level power management control algorithms are assessed, a rule-based algorithm, which mainly explores engine efficiency in an intuitive manner, and a dynamic-programming optimization algorithm. Simulation results over the urban driving cycle demonstrate the potential of the selected hybrid system to significantly improve vehicle fuel economy, the improvement being greater when the dynamicprogramming power management algorithm is applied.

Existing systems for the control of mould level of continuous steel casting in Czech Steelworks have had problems with the stability of the steel level position. A new control algorithm is designed on the basis of mathematical modelling and digital simulation. This should better satisfy the actual demand on the control quality. A PI controller with a variable gain and dither signal was used. During several months of practical tests and the experimental tuning of the controller, parameters were determined regarding the required shape time diagram of the steel level for all types of steels, resulting in very good slab surface quality.

In this paper a photovoltaic (PV) energy conversion system is simulated jointly with its control. The simulation of the system is developed for testing control algorithm before a real-time implementation. The control part is developed using MATLAB/Simulink in order to ensure a direct generation of the real-time code for the dSPACE control board. The simulation of the power system is first realized using MATLAB/Simulink. In a second step, the simulation of the power system is realized using the PLECS toolbox. Both simulation models are tested and selective simulation results are provided for a comparative study.

Greenhouse control computers are an essential part of modern greenhouse operation. Climate, irrigation and nutrient supply must be controlled, in an economical way, to produce the best crop conditions. Current research on CO 2 enrichment and optimal growth strategies implies the use of powerful tools, either based on hardware or software. This paper describes the design and implementation of a distributed data acquisition and control system for computerised agricultural management systems that is being developed at Universidade of Trás-os-Montes and Alto Douro, Vila Real. Different communications platform concepts, such as Controller Area Network (CAN), Wireless Technologies, Ethernet and Internet tools supported by Transfer Control Protocol/Internet Protocol (TCP/IP) and e-mail tools supported by Simple Mail Transfer Protocol (SMTP) were used to achieve a network with a low-cost, flexible, and functional characteristics. The system management and maintenance tasks are divided into two types of performance levels. At a lower supervision level, a Local Controller placed in the greenhouses performs the monitoring/control and communications actions. The management decisions are performed at the higher level. The techniques and tools, which provide to the user a transparent, friendly and intuitive Graphical User Interface (GUI) will be presented.

CONTROLAB is an environment which integrates intelligent systems and control algorithms aiming at applications in the area of robotics. Within CONTROLAB, two neural network architectures based on the backpropagation and the recursive models are proposed for the implementation of a robust speaker-independent word recognition system. The robustness of the system using the backpropagation network has been largely verified through use by children and adults in a totally uncontrolled environment such as large public halls for the exhibition of new technology products. Initial experimental results with the recursive network show that it will be able to overcome the backpropagation network major drawback, which is the frequent generation of false alarms. In addition, within CONTROLAB, a multivariable self-tuning algorithm is proposed to perform high-precision control of the trajectory, to be followed by a robot arm. High-precision control is achieved due to the ability of the algorithm to ...