Multi-hierarchical control system for controlling object motion

Details Multi-hierarchical control system for controlling object motion Multi-hierarchical control system for controlling object motion

1998-03-02

2000-03-21

Terrell, William E.

Sheet feeding or delivering

Delivering

By pneumatic conveyor

271195, 364557, B65H 2924, G01K 1500

Patent

active

060393165

ABSTRACT:
Embedded in a transport assembly are arrays of microelectromechanical devices for detecting and making adjustments for perceived changes in their environment. The arrays of sensors and actuators are tightly coupled to each other so that coordinated action of neighboring actuators minimizes the cumulative effort required to move the object. The sensors and actuators are controlled using a multi-hierarchical organization of computational elements. Each computational element in lower levels of the multi-hierarchy communicates with one or more higher level computational elements to define zones of control. An object moving along the transport assembly lies principally in the domain of at least one zone of control. As an object moves along the transport assembly, dominant control over the object moves along the transport with the object. Because the zones of control overlap, dominant control over an object smoothly transitions between groups of computational elements thereby minimizing discontinuities at control boundaries.

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