Accurate position control of a pneumatic actuator using on/off solenoid valves
Bibliographic record
Abstract
The development of a fast, accurate and inexpensive position controlled pneumatic actuator that may be applied to a variety of robotic applications is described. A novel PWM valve pulsing algorithm allowed on/off solenoid valves to be used in place of costly servo valves. A linear process model was obtained from experimental data using system identification. A PID controller with added friction compensation and position feedforward was successfully implemented. A worst case steady state accuracy of 0.21 mm was achieved with a rise time of 180 ms for step inputs from 0.11 mm to 64 mm. Following errors to 64 mm s-curve profiles were less than 2.0 mm. The controller was robust to a six fold increase in the system mass. The actuator's overall performance is comparable to that achieved by other researchers using servo valves.
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How this classification was reachedexpand
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) | 0.001 | 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 itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".