Rapid Control Prototyping (RCP) methods play an important role in control system design. The most... more Rapid Control Prototyping (RCP) methods play an important role in control system design. The most used tools are based on Matlab for the design of the control algorithm, Simulink for the simulation of the controlled system and Real Time Workshop for generating the code for the RT target. Unfortunately such tools are quite expensive and most little companies can’t face the commercial licenses related to these products. In this paper a free open source alternative is presented: Matlab is substituted by Python, the gEDA tools are used as replacement for Simulink and the control code is automatically generated for a Linux machine running a preempt rt patched kernel. In particular, the methods used to translate the gEDA schematic into C code are presented. The new environment has been tested and validated on different plants at the SUPSI laboratory.
Abstract This paper presents a Computer Aided Control System Design (CACSD) environment completel... more Abstract This paper presents a Computer Aided Control System Design (CACSD) environment completely based on the programming language Python. Students can perform all the control design tasks (modeling, identification, controller design, simulation) in this environment, and at the end, they can automatically generate RT code for targets like a PC or a Raspberry PI with a Linux RT OS. A Python package for control purposes have been developed at the Caltech by Richard Murray, with the aim of integrating the most used functions and methods available in other commercial and non commercial software. Using this package it is possible to design different kinds of controllers for laboratory plants (PID, state-feedback, LQR, including full and reduced order observers). An additional package developed at SUPSI allows representing the full system in a graphical block diagram, similar to xCos or Simulink, and automatically generating code for RT targets. This application offers the most used blocks required for the design of a control system. New blocks can be easily integrated into this SW. This environment has been validated at the SUPSI laboratory on different electromechanical plants: the classical Inverted Pendulum, the Disks and Spring system, the Ball on Plate and the Ball on Wheel plants.
The Scuola Universitaria Professionale della Svizzera Italiana (SUPSI) is a university of applied... more The Scuola Universitaria Professionale della Svizzera Italiana (SUPSI) is a university of applied sci-ences which offers students the possibility to get a specialization in mechatronic in the third study year. One of the most important parts of this study is represented by the mechatronic laboratory, where stu-dents can put all the tasks connected to the different lectures into practice. Rapid Control Prototyping methods (RCP) play a key rule to achieve these objectives. Since 2003, the SUPSI has based his control laboratory on Linux RTAI. The RTAI-Lab project allows to directly integrate the code generated from the commercial suite Matlab/Simulink/RTW or from the open source suite Scilab/Scicos/RTAICodeGen into Linux RTAI. Different blocks and functions which facilitate the plant identification and the control design have been created for both environments.
This paper presents a Rapid Controller Prototyping System based on Matlab, Simulink and the Real-... more This paper presents a Rapid Controller Prototyping System based on Matlab, Simulink and the Real-Time Workshop toolbox. Executable code is automatically generated for Linux RTAI, a hard real-time extension of the Linux Operating System. The produced code runs as a kernel module on a standard PC with the modiÂŻcation of the Linux Operating System. This environment can be used in a teaching laboratory to quickly implement real-time controllers. Students have the possibility to follow all the phases of the controller design within a unique environment (analysis, design, simulation, implementation) and can concentrate on the design aspects without having to deal with programming issues. Some applications are presented to demonstrate the capabilities and the performance of this environment.
The DNA sequence located between mecA, the gene that codes for penicillin-binding protein PBP2... more The DNA sequence located between mecA, the gene that codes for penicillin-binding protein PBP2', and insertion sequence-like element IS431mec has been termed hypervariable because of its length polymorphism among different staphylococcal isolates. We sequenced and characterized the hypervariable region of the methicillin resistance determinant (mec) isolated from Staphylococcus aureus BB270. Within the 2,040-bp hypervariable region, we identified an unusual accumulation of long direct repeats. Analysis of the DNA sequence revealed a minimal direct repeat unit (dru) of 40 bp which was repeated 10 times within 500 bp. The dru sequences are responsible for the length polymorphism of mec. Moreover, we identified an open reading frame that codes for 145 amino acids (ORF145), whose deduced amino acid sequence showed 57% amino acid sequence similarity to the N terminus of the glycerophosphoryl diester phosphodiesterase (UgpQ) of Escherichia coli.
Resumen: En este documento se presenta una plataforma para el diseno e implementacion rapida de p... more Resumen: En este documento se presenta una plataforma para el diseno e implementacion rapida de prototipos de control basada en herramientas de codigo abierto y distribucion libre. Esta cadena de herramientas esta basada en Scilab/Scicos, RTAI, RTAI-Lab y Comedi. Esta plataforma es accesible, y brinda funciones de analisis e implementacion similares a las versiones comerciales. Son demostradas las cualidades de la plataforma a traves de dos aplicaciones llevadas a cabo en la Universidad de Ciencias Aplicadas de la Suiza Italiana (Lugano, Suiza) y en la Universidad del Cauca (Popayan, Colombia). Asi mismo, se introduce la recien creada Red Latinoamericana para el Uso y Desarrollo de Herramientas para el Diseno de Sistemas de Control que tiene como objetivo fomentar el uso y apoyar el desarrollo de este tipo de herramientas.
Rapid Control Prototyping (RCP) methods play an important role in control system design. The most... more Rapid Control Prototyping (RCP) methods play an important role in control system design. The most used tools are based on Matlab for the design of the control algorithm, Simulink for the simulation of the controlled system and Real Time Workshop for generating the code for the RT target. Unfortunately such tools are quite expensive and most little companies can’t face the commercial licenses related to these products. In this paper a free open source alternative is presented: Matlab is substituted by Python, the gEDA tools are used as replacement for Simulink and the control code is automatically generated for a Linux machine running a preempt rt patched kernel. In particular, the methods used to translate the gEDA schematic into C code are presented. The new environment has been tested and validated on different plants at the SUPSI laboratory.
Abstract This paper presents a Computer Aided Control System Design (CACSD) environment completel... more Abstract This paper presents a Computer Aided Control System Design (CACSD) environment completely based on the programming language Python. Students can perform all the control design tasks (modeling, identification, controller design, simulation) in this environment, and at the end, they can automatically generate RT code for targets like a PC or a Raspberry PI with a Linux RT OS. A Python package for control purposes have been developed at the Caltech by Richard Murray, with the aim of integrating the most used functions and methods available in other commercial and non commercial software. Using this package it is possible to design different kinds of controllers for laboratory plants (PID, state-feedback, LQR, including full and reduced order observers). An additional package developed at SUPSI allows representing the full system in a graphical block diagram, similar to xCos or Simulink, and automatically generating code for RT targets. This application offers the most used blocks required for the design of a control system. New blocks can be easily integrated into this SW. This environment has been validated at the SUPSI laboratory on different electromechanical plants: the classical Inverted Pendulum, the Disks and Spring system, the Ball on Plate and the Ball on Wheel plants.
The Scuola Universitaria Professionale della Svizzera Italiana (SUPSI) is a university of applied... more The Scuola Universitaria Professionale della Svizzera Italiana (SUPSI) is a university of applied sci-ences which offers students the possibility to get a specialization in mechatronic in the third study year. One of the most important parts of this study is represented by the mechatronic laboratory, where stu-dents can put all the tasks connected to the different lectures into practice. Rapid Control Prototyping methods (RCP) play a key rule to achieve these objectives. Since 2003, the SUPSI has based his control laboratory on Linux RTAI. The RTAI-Lab project allows to directly integrate the code generated from the commercial suite Matlab/Simulink/RTW or from the open source suite Scilab/Scicos/RTAICodeGen into Linux RTAI. Different blocks and functions which facilitate the plant identification and the control design have been created for both environments.
This paper presents a Rapid Controller Prototyping System based on Matlab, Simulink and the Real-... more This paper presents a Rapid Controller Prototyping System based on Matlab, Simulink and the Real-Time Workshop toolbox. Executable code is automatically generated for Linux RTAI, a hard real-time extension of the Linux Operating System. The produced code runs as a kernel module on a standard PC with the modiÂŻcation of the Linux Operating System. This environment can be used in a teaching laboratory to quickly implement real-time controllers. Students have the possibility to follow all the phases of the controller design within a unique environment (analysis, design, simulation, implementation) and can concentrate on the design aspects without having to deal with programming issues. Some applications are presented to demonstrate the capabilities and the performance of this environment.
The DNA sequence located between mecA, the gene that codes for penicillin-binding protein PBP2... more The DNA sequence located between mecA, the gene that codes for penicillin-binding protein PBP2', and insertion sequence-like element IS431mec has been termed hypervariable because of its length polymorphism among different staphylococcal isolates. We sequenced and characterized the hypervariable region of the methicillin resistance determinant (mec) isolated from Staphylococcus aureus BB270. Within the 2,040-bp hypervariable region, we identified an unusual accumulation of long direct repeats. Analysis of the DNA sequence revealed a minimal direct repeat unit (dru) of 40 bp which was repeated 10 times within 500 bp. The dru sequences are responsible for the length polymorphism of mec. Moreover, we identified an open reading frame that codes for 145 amino acids (ORF145), whose deduced amino acid sequence showed 57% amino acid sequence similarity to the N terminus of the glycerophosphoryl diester phosphodiesterase (UgpQ) of Escherichia coli.
Resumen: En este documento se presenta una plataforma para el diseno e implementacion rapida de p... more Resumen: En este documento se presenta una plataforma para el diseno e implementacion rapida de prototipos de control basada en herramientas de codigo abierto y distribucion libre. Esta cadena de herramientas esta basada en Scilab/Scicos, RTAI, RTAI-Lab y Comedi. Esta plataforma es accesible, y brinda funciones de analisis e implementacion similares a las versiones comerciales. Son demostradas las cualidades de la plataforma a traves de dos aplicaciones llevadas a cabo en la Universidad de Ciencias Aplicadas de la Suiza Italiana (Lugano, Suiza) y en la Universidad del Cauca (Popayan, Colombia). Asi mismo, se introduce la recien creada Red Latinoamericana para el Uso y Desarrollo de Herramientas para el Diseno de Sistemas de Control que tiene como objetivo fomentar el uso y apoyar el desarrollo de este tipo de herramientas.
Python ca be used to perform control tasks (analysis, controller design, simulation).
In addition... more Python ca be used to perform control tasks (analysis, controller design, simulation). In addition, the pyEdit application allows to perform hybrid simulation and can be used to automatically generate code for a RT target.
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Papers by Roberto Bucher
In addition, the pyEdit application allows to perform hybrid simulation and can be used to automatically generate code for a RT target.