Experimental comparison of two pneumatic servo position control algorithms
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Bibliographic record
Abstract
Many researchers have investigated pneumatic servo positioning systems due to their numerous advantages: inexpensive, clean, safe and high ratio of power to weight. However, the compressibility of the working medium, air, and the inherent non-linearity of the system continue to make achieving accurate position control a challenging problem. In this paper two control algorithms are designed for the pneumatic servo problem and their experimental performance is compared. The first algorithm uses position plus velocity plus acceleration feedback combined with feedfoward and deadzone compensation (PVA+FF+DZC). The second algorithm is a form of sliding-mode control (SMC). Extensive experiments using different payloads (1.9, 5.8 and 10.8 kg), vertical and horizontal movements, and move sizes from 3 to 250 mm were conducted. Averaged over 70 experiments with various operating conditions, the tracking error for SMC was 59% less than with PVA+FF+DZC. For a 5.8 kg payload and a 0.5 Hz, 70 mm amplitude, sine wave reference trajectory the root mean square error with SMC was less than 0.4 mm for both vertical and horizontal motions. This tracking control performance is better than those previously reported for similar systems.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it