The objective of this study was to test and validate electromagnetic scanning of whole pork carcasses in an on-line, integrated, industrial configuration. The electromagnetic (EM) scanner was installed in two pork processing facilities (Plant A and Plant B). Plant A was a small pork fabrication plant that further processed chilled pork carcasses. Carcasses were delivered to Plant A by refrigerated trucks. The amount of EM energy absorbed by the carcasses was recorded as they were conveyed through the EM field. A plot of the absorption units over time (EM scan curve) was used to obtain predictive variables for estimating carcass and primal cut composition. Forty-eight whole, chilled carcasses (Group A) were electromagnetically scanned and conveyed onto the fabrication line. The average percentage carcass lean for Group A was 49.1% (range = 36.5 to 59.5%). Right carcass sides were removed from the processing line, fabricated into primal cuts, and dissected into fat, lean, and bone. Prediction equations were developed from EM scans for weight of total dissected carcass lean (R2 = .830; root mean square error = 1.80 kg), percentage of carcass lean (R2 = .820; root mean square error = 2.29%), and weight of dissected ham, longissimus muscle, and shoulder lean. In Plant B, the electromagnetic scanner was installed at the end of a pork slaughter line to ensure carcass scanning at a consistent carcass temperature. Fifty whole, pre-rigor eviscerated carcasses (Group B) were electromagnetically scanned before entering the chill cooler where fat and loin tissue depths were obtained by an optical grading probe. The average percentage carcass lean for Group B was 46.7% (range = 30.1 to 57.3%). Prediction equations were developed from EM scans for weight of total dissected carcass lean (R2 = .904; root mean square error = 1.59 kg), percentage of carcass lean (R2 = .863; root mean square error = 2.05%), and weight of dissected ham, loin, and shoulder lean. Statistical equations developed for the prediction of dissected primal cut lean were superior from EM scans of Group B (prerigor) carcasses. Electromagnetic scanning proved more statistically efficient than optical probes for predicting weight of dissected carcass lean and percentage of carcass lean. Statistical comparison of EM scan equations from Groups A and B are not completely valid because two different populations of carcasses were tested at different times of the year. The results of this study show that EM scanning has the potential to accurately predict pork carcass composition in a fully automated, on-line industrial configuration.
In this paper, we present a direct fault tolerant control (DFTC) technique, where by "direct" we mean that no explicit fault identification is used. The technique will be presented for the attitude controller (autopiiot) for a reusable launch vehicle (RLV), although in principle it can be applied to many other applications. Any partial or complete failure of control actuators and effectors will be inferred from saturation of one or more commanded control signals generated by the controller. The saturation causes a reduction in the effective gain, or bandwidth of the feedback loop, which can be modeled as an increase in singular perturbation in the loop. In order to maintain stability, the bandwidth of the nominal (reduced-order) system will be reduced proportionally according to the singular perturbation theory. The presented DFTC technique automatically handles momentary saturations and integrator windup caused by excessive disturbances, guidance command or dispersions under normal vehicle conditions. For multi-input, multi-output (MIMO) systems with redundant control effectors, such as the RLV attitude control system, an algorithm is presented for determining the direction of bandwidth cutback using the method of minimum-time optimal control with constrained control in order to maintain the best performance that is possible with the reduced control authority. Other bandwidth cutback logic, such as one that preserves the commanded direction of the bandwidth or favors a preferred direction when the commanded direction cannot be achieved, is also discussed. In this extended abstract, a simplistic example is proved to demonstrate the idea. In the final paper, test results on the high fidelity 6-DOF X-33 model with severe dispersions will be presented.
In this paper, we present a direct fault tolerant control (DFTC) technique, where by "direct" we mean that no explicit fault identification is used. The technique will be presented for the attitude controller (autopiiot) for a reusable launch vehicle (RLV), although in principle it can be applied to many other applications. Any partial or complete failure of control actuators and effectors will be inferred from saturation of one or more commanded control signals generated by the controller. The saturation causes a reduction in the effective gain, or bandwidth of the feedback loop, which can be modeled as an increase in singular perturbation in the loop. In order to maintain stability, the bandwidth of the nominal (reduced-order) system will be reduced proportionally according to the singular perturbation theory. The presented DFTC technique automatically handles momentary saturations and integrator windup caused by excessive disturbances, guidance command or dispersions under normal vehicle conditions. For multi-input, multi-output (MIMO) systems with redundant control effectors, such as the RLV attitude control system, an algorithm is presented for determining the direction of bandwidth cutback using the method of minimum-time optimal control with constrained control in order to maintain the best performance that is possible with the reduced control authority. Other bandwidth cutback logic, such as one that preserves the commanded direction of the bandwidth or favors a preferred direction when the commanded direction cannot be achieved, is also discussed. In this extended abstract, a simplistic example is proved to demonstrate the idea. In the final paper, test results on the high fidelity 6-DOF X-33 model with severe dispersions will be presented.
This paper presents a hierarchical architecture for integrated guidance and control that achieves risk and cost reduction for NASA's 2 "dgeneration reusable launch vehicle (RLV).Guidance, attitude control, and control allocation subsystems that heretofore operated independently will now work cooperatively under the coordination of a top-level autocommander.In addition to delivering improved performance from a flight mechanics perspective, the autocommander is intended to provide an autonomous supervisory control capability for traditional mission management under nominal conditions, G&C reconfiguration in response to effector saturation, and abort mode decision-making upon vehicle malfunction. This high-level functionality is to be implemented through the development of a relational database that is populated with the broad range of vehicle and mission specific data and translated into a discrete event system model for analysis, simulation, and onboard implementation• A Stateflow Autocoder software tool that translates the database into the Stateflow component of a Matlab/Simulink simulation is also presented.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.
customersupport@researchsolutions.com
10624 S. Eastern Ave., Ste. A-614
Henderson, NV 89052, USA
Copyright © 2024 scite LLC. All rights reserved.
Made with 💙 for researchers
Part of the Research Solutions Family.