A servo control device to execute an operation in a discrete time system may include a velocity feedback path having a difference means calculating a pseudo-velocity from a detected position and a lowpass filter, and a PI control means executing a proportional integration control operation on a deviation between the pseudo-velocity and the position deviation to create a drive command for the driver. The velocity feedback path includes a first gain means applying a first gain to the pseudo-velocity, a delay means delaying the pseudo-velocity, and a second gain means applying a second gain to the delayed pseudo-velocity. A sum of an output of the first gain means and the second gain means is inputted to the lowpass filter, and “F.sub.a(z)=1/(1−z.sup.−1F.sub.b(z))” is satisfied where a transfer function of the PI control means is F.sub.a(z), and a transfer function of the lowpass filter is F.sub.b(z).

A method according to the disclosure configures a processor to predict metal loss in a structure for remediation. The method uses a machine learning model, trained based upon historical data, to predict metal loss over locations of a structure at a time of the prediction. The method identifies from among the predicted locations a high-risk location on the structure in which a magnitude of metal loss indicates potential remediation being needed, dispatches a robotic vehicle to the high-risk location on the structure and inspects the high-risk location using the robotic vehicle to confirm whether the magnitude of metal loss at the location requires remediation. In further methods, remediation is performed. In still further methods, a three-dimensional visualization of the structure is generated with an overlay which depicts predicted metal loss over the sections of the structure.

A method according to the disclosure configures a processor to predict metal loss in a structure for remediation. The method uses a machine learning model, trained based upon historical data, to predict metal loss over locations of a structure at a time of the prediction. The method identifies from among the predicted locations a high-risk location on the structure in which a magnitude of metal loss indicates potential remediation being needed, dispatches a robotic vehicle to the high-risk location on the structure and inspects the high-risk location using the robotic vehicle to confirm whether the magnitude of metal loss at the location requires remediation. In further methods, remediation is performed. In still further methods, a three-dimensional visualization of the structure is generated with an overlay which depicts predicted metal loss over the sections of the structure.

A multi-stage incremental sheet forming system includes a forming tool, and at least one control unit in communication with the forming tool. The at least one control unit is configured to determine a convex hull of a target structure to be formed by the forming tool. The at least one control unit is further configured to operate the forming tool according to a first tool path in relation to an initial structure to form an intermediate structure having a shape based on the convex hull of the target structure. The at least one control unit is further configured to operate the forming tool according to a second tool path in relation to the intermediate structure to form one or more inward features into the intermediate structure to form the target structure.

A multi-stage incremental sheet forming system includes a forming tool, and at least one control unit in communication with the forming tool. The at least one control unit is configured to determine a convex hull of a target structure to be formed by the forming tool. The at least one control unit is further configured to operate the forming tool according to a first tool path in relation to an initial structure to form an intermediate structure having a shape based on the convex hull of the target structure. The at least one control unit is further configured to operate the forming tool according to a second tool path in relation to the intermediate structure to form one or more inward features into the intermediate structure to form the target structure.

A linear transport system includes a stator having a track and coils provided along the track, carriers with a magnet and movable along the track, scales provided on the carriers, sensors provided along the track at respective intervals and configured to detect the carriers to obtain scale positions of the scales, a parameter memory configured to memorize first cumulative values each corresponding to a corresponding sensor, and position calculation circuitry. Each of the first cumulative values is obtained by accumulating, from a reference position to the corresponding sensor, error correction values based on which errors between the respective intervals and measured values of the respective intervals are corrected. The position calculation circuitry is configured to calculate a position of a detected carrier based on detection data of a detecting sensor that has detected the detected carrier and based on the first cumulative value corresponding to the detecting sensor.

A machining control system includes: a numerical control device controlling a machine tool; and a robot control device communicating with the numerical control device and controlling a robot having a plurality of drive axes. The numerical control device includes: a coordinate position command generation unit generating a coordinate position command specifying a target coordinate position at each time of a leading end part of the robot, based on a machining program; and a communication unit sending the current target coordinate position to the robot control device. The robot control device includes: a target drive position calculation unit calculating a target drive position of each of the plurality of drive axes to position the leading end part at the target coordinate position; and a drive command generation unit generating a drive command to each of the drive axes to position the drive axes at the calculated target drive position.

A machining control system includes: a numerical control device controlling a machine tool; and a robot control device communicating with the numerical control device and controlling a robot having a plurality of drive axes. The numerical control device includes: a coordinate position command generation unit generating a coordinate position command specifying a target coordinate position at each time of a leading end part of the robot, based on a machining program; and a communication unit sending the current target coordinate position to the robot control device. The robot control device includes: a target drive position calculation unit calculating a target drive position of each of the plurality of drive axes to position the leading end part at the target coordinate position; and a drive command generation unit generating a drive command to each of the drive axes to position the drive axes at the calculated target drive position.

A controller which controls an apparatus having motors each of which drives each axis includes a control part which is provided so as to correspond to a motor for each axis and servo-controls the motor based on a command value applied to the motor. The control part receives the command value from a host apparatus and updates the command value in a predetermined updating period. When the command value in a “t”-th updating period used in the control part is defined as y(t), the control part includes an extrapolation calculation part which calculates a command value y(k) used in a “k”-th updating period according to the following expression when the control part has not received the command value from the host apparatus or abnormality occurs in the communication in the “k”-th updating period:

y(k)=y(k−2)+{y(k−1)−y(k−3)}, or

y(k)=y(k−2)+{y(k−2)−y(k−4)}.

A controller which controls an apparatus having motors each of which drives each axis includes a control part which is provided so as to correspond to a motor for each axis and servo-controls the motor based on a command value applied to the motor. The control part receives the command value from a host apparatus and updates the command value in a predetermined updating period. When the command value in a “t”-th updating period used in the control part is defined as y(t), the control part includes an extrapolation calculation part which calculates a command value y(k) used in a “k”-th updating period according to the following expression when the control part has not received the command value from the host apparatus or abnormality occurs in the communication in the “k”-th updating period:

y(k)=y(k−2)+{y(k−1)−y(k−3)}, or

y(k)=y(k−2)+{y(k−2)−y(k−4)}.