This paper begins by recalling how a constraint distribution on a configuration manifold induces a Dirac structure together with an implicit Lagrangian system, a construction that is valid even for degenerate Lagrangi...
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ISBN:
(纸本)9783540738893
This paper begins by recalling how a constraint distribution on a configuration manifold induces a Dirac structure together with an implicit Lagrangian system, a construction that is valid even for degenerate Lagrangians. In such degenerate cases, it is shown in this paper that an implicit Hamiltonian system can be constructed by using a generalized Legendre transformation, where the primary constraints are incorporated into a generalized Hamiltonian on the Pontryagin bundle. Some examples of degenerate Lagrangians for L-C circuits, nonholonomic systems, and point vortices illustrate the theory.
The theme of the present paper is the study of two different versions of tensor products of functional models and present some applications to various problems related to system theory. Among those are stability of hi...
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ISBN:
(纸本)9783540735694
The theme of the present paper is the study of two different versions of tensor products of functional models and present some applications to various problems related to system theory. Among those are stability of higher order systems, tangent spaces, spaces of intertwining maps, invariant factors of tensor products of linear transformations and the solvability of Sylvester equations.
This paper designs a way to model on the complex welding robot system. With analyzing the characteristic of welding robot system, a fuzzy Petri net model is designed and analyzed. In order to get the performance of de...
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ISBN:
(纸本)9783540733737
This paper designs a way to model on the complex welding robot system. With analyzing the characteristic of welding robot system, a fuzzy Petri net model is designed and analyzed. In order to get the performance of designed model, this paper proves the performance of model in theory. Results of model simulation experiment illustrate that the model can depicts welding robot system accurately and right.
In order to detect the ablation on the hydro-turbine blade in the turbine room, a scheme of the ablation detecting by a robot under the operator's assistance was proposed. And the relevant system was designed. The...
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ISBN:
(纸本)9783540733737
In order to detect the ablation on the hydro-turbine blade in the turbine room, a scheme of the ablation detecting by a robot under the operator's assistance was proposed. And the relevant system was designed. The system included two on-vehicle sensors and the computer and control center were located on the floor. The on-vehicle sensors included the laser range finder and the industry camera which were both fixed at a robot's end-link. The blade was observed through the camera. When an ablation was found, its dimensions could be measured by the system. A mathematic model of the robot and the laser range finder was constructed. Besides, to calibrate the homogeneous transformation matrix between the coordinates of robot's end-link and those of laser range finder, a calibration method by measuring a fixed point with different poses was proposed. Experimental results showed that the detecting scheme was appropriate for the turbine blade ablation detection, the model of the ablation detecting system was correct, and the proposed calibration method was effective.
This paper is dedicated to Giorgio Picci on the occasion of his 65th birthday. I have come to appreciate Giorgio not only as a great friend but also as a great scholar. When we first met at Brown University in 1973, h...
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ISBN:
(纸本)9783540735694
This paper is dedicated to Giorgio Picci on the occasion of his 65th birthday. I have come to appreciate Giorgio not only as a great friend but also as a great scholar. When we first met at Brown University in 1973, he introduced me to his seminal paper [29] on splitting subspaces, which became the impetus for our joint work on the geometric theory of linear stochastic systems [23,24,25,26]. This led to a life-long friendship and a book project that never seemed to converge, but now is close to being finished [27]. I have learned a lot from Giorgio. The present paper grew out of a discussion in our book project, when Giorgio taught me about the connections between prediction-error identification and the Kullback-Leibler criterion. These concepts led directly into the recent theory of analytic interpolation with complexity constraint, with which I have been deeply involved in recent times. I shall try to explain these connections in the following paper.
System design in presence of uncertainty calls for experimentation, and a question that arises naturally is: how many experiments are needed to come up with a system meeting certain performance requirements? This cont...
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ISBN:
(纸本)9783540735694
System design in presence of uncertainty calls for experimentation, and a question that arises naturally is: how many experiments are needed to come up with a system meeting certain performance requirements? This contribution represents an attempt to answer this fundamental question. Results are confined to a specific set-up where adaptation is performed according to a worst-case perspective, but many considerations and reflections are central to adaptation in general.
This paper gives a brief review on intelligent robotic technologies in industrial applications. The goal is not to conduct a thorough analysis of the state-of-art technologies, but rather to point out the directions f...
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ISBN:
(纸本)9783540733737
This paper gives a brief review on intelligent robotic technologies in industrial applications. The goal is not to conduct a thorough analysis of the state-of-art technologies, but rather to point out the directions for future technology development. Based on the market success of force control and machine vision in industry automation, this paper contends the arrival of the golden period of intelligent robotic technologies. The potential growth markets at present and in the near future are primarily assembly, and machining, where vision and force sensing continue to be the enabling technologies. As robot manufacturers start to embrace this technology wave, there are many technical challenges to be solved. The major problem for industrial R&D is how to safely and cost-effectively integrate sensor-driven functionalities with existing pure planning based position control system. For academic research, robust, efficient and effective sensor fusion and data mining methods should be the focus.
This paper introduces a new, portable and intelligent inverter for stud welding in automotive rework and robot backup, and for general sheet metal fabrication applications. The new portable inverter combines the virtu...
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ISBN:
(纸本)9783540733737
This paper introduces a new, portable and intelligent inverter for stud welding in automotive rework and robot backup, and for general sheet metal fabrication applications. The new portable inverter combines the virtues of precision and simplicity. High repeatability, accuracy and arc stability are ensured with digital signal parallel processing and Dual Loop (TM) fast arc regulation technology, designed for stud welding. High surge current is provided with unique Parallel Silicon (TM) technology for advanced high strength steel and,to overcome adverse surface coating. A user-friendly interface called Stud Expert (TM) introduces a new programming methodology based on application conditions instead of machine settings such as time and current. Procedures can be memorized and recalled by the use of pre-sets. Quality assurance is embedded inside the welder to determine weld quality and to monitor production data.
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