This paper summarizes the optimization and learning methods using Estimation of Distribution Algorithm (EDA) to generate and plan biped gaits. By formulating biped robot as mass link structure, dynamically stable and ...
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ISBN:
(纸本)9783540733737
This paper summarizes the optimization and learning methods using Estimation of Distribution Algorithm (EDA) to generate and plan biped gaits. By formulating biped robot as mass link structure, dynamically stable and energy efficient gait generation problem is extracted as a multi-constrained and multi-objective optimization problem. Instead of traditional intelligent algorithms, EDAs are proposed to solve this high dimensional optimization problem for its clear structure and simple parameter. Simulation results of different EDAs based optimization algorithms with comparison to genetic algorithm on biped gait optimization are shown in this paper to find out the advantages and disadvantages of the proposed biped gait generation algorithms.
In this paper an internal model based approach to implicit Fault Tolerant control for port-Hamiltonian systems is presented: the main idea is to cast the problem into a regulation problem in presence of input disturba...
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ISBN:
(纸本)9783540738893
In this paper an internal model based approach to implicit Fault Tolerant control for port-Hamiltonian systems is presented: the main idea is to cast the problem into a regulation problem in presence of input disturbances representing exogenous effects of possible faults;this can be solved following an adaptive internal model based approach. The theoretical machinery exploited is specialized for the energy-based port-Hamiltonian formalism in order to prove the global asymptotical stability of the solution. Finally an application example is presented in order to deeply point out the effectiveness of the design procedure presented: a Fault Tolerant control problem is solved for a magnetic levitation system affected by periodic voltage disturbances.
This paper addresses on key intelligentized technologies for robotic welding, which contains computer vision technology for recognizing weld seam and starting, locally autonomous guiding and tracking seam, real-time i...
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ISBN:
(纸本)9783540733737
This paper addresses on key intelligentized technologies for robotic welding, which contains computer vision technology for recognizing weld seam and starting, locally autonomous guiding and tracking seam, real-time intelligent control of weld penetration, seam forming and welding pool dynamics. A locally autonomous intelligentized welding robot (LAIWR) systems was developed, which could realize detecting and recognizing weld surroundings by visual sensing technology, identifying the initial position of weld seam, autonomously guiding weld torch to the weld starting and tracking the seam, real-time control of pulsed GTAW pool dynamics by vision computing and intelligent strategies.
This paper introduces some intelligent control strategies for marine craft. By looking at some existing problems in this area, e.g. the uncertainties and nonlinearities in ship dynamic model and time delay in ship act...
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ISBN:
(纸本)9783540733737
This paper introduces some intelligent control strategies for marine craft. By looking at some existing problems in this area, e.g. the uncertainties and nonlinearities in ship dynamic model and time delay in ship actuator system, three types of control strategies are studied, namely, robust PID control for ship steering, adaptive fuzzy robust tracking control (AFRTC) for ship steering, and adaptive fuzzy Hinf control for ship roll stabilization. The effectiveness of the three control strategies are demonstrated by ship simulation. This paper is dedicated to the memory of Professor YS Yang for his pioneer work on robust adaptive fuzzy control of marine craft.
It is a typical situation in modern modeling that a total model is built up from simpler submodels, or modules, for example residing in a model library. The total model could be quite complex, while the modules are we...
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ISBN:
(纸本)9783540735694
It is a typical situation in modern modeling that a total model is built up from simpler submodels, or modules, for example residing in a model library. The total model could be quite complex, while the modules are well understood and analysed. A procedure to decide global parameter identifiability for such a collection of model equations of differential-algebraic nature is suggested. It is shown how to make use of the natural modularization of the model structure. Basically, global identifiability is obtained if and only if each module is identifiable, and the connecting signals can be retrieved from the external signals, without knowledge of the values of the parameters.
A girth seam tracking system based on structured light vision for pipe welding robot is presented. Firstly, the vision sensor is designed based on the analysis of laser reflection on weldment surface and the position ...
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ISBN:
(纸本)9783540733737
A girth seam tracking system based on structured light vision for pipe welding robot is presented. Firstly, the vision sensor is designed based on the analysis of laser reflection on weldment surface and the position relation of camera, laser plane and weldment for the effect of laser stripes imaging. Image processing and features extraction algorithms are developed in case of strong multiple reflections disturbance in welding seam image. An image-based vision control system of welding robot is adopted for girth seam tracking of pipe weldment. Girth seam tracking experiment by pipe welding robot was conducted to verify the performance of the system.
This monograph presents a variety of techniques that can be used for designing robust fault diagnosis schemes for non-linear systems. The introductory part of the book is of a tutorial value and can be perceived as a ...
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ISBN:
(数字)9783540711162
ISBN:
(纸本)9783540711148
This monograph presents a variety of techniques that can be used for designing robust fault diagnosis schemes for non-linear systems. The introductory part of the book is of a tutorial value and can be perceived as a good starting point for the new-comers to this field. Subsequently, advanced robust observer structures are presented. Parameter estimation based techniques are discussed as well. A particular attention is drawn to experimental design for fault diagnosis. The book also presents a number of robust soft computing approaches utilizing evolutionary algorithms and neural networks. All approaches described in this book are illustrated by practical applications.
A geodesic-based formulation of geometric PD tracking control for fully actuated mechanical systems is derived from the Riemannian metric. The region of stability is determined directly from the magnitude of the syste...
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ISBN:
(纸本)9783540738893
A geodesic-based formulation of geometric PD tracking control for fully actuated mechanical systems is derived from the Riemannian metric. The region of stability is determined directly from the magnitude of the system's injectivity radius and, for a restricted set of control problems, the locus of cut points about a desired reference point in the manifold. Exponential stability is proven for controlled motion along a geodesic, yielding a particularly simple, yet elegant, methodology for control design.
The peak of resonance current during commutation greatly influences the safety of commutation component in variable polarity plasma arc welding (VPPAW). It is necessary to study measure to restrain the current peak. P...
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ISBN:
(纸本)9783540733737
The peak of resonance current during commutation greatly influences the safety of commutation component in variable polarity plasma arc welding (VPPAW). It is necessary to study measure to restrain the current peak. Phenomenon of arc resonance current is studied by experiments. Analysis shows that the arc resistance is time variable. Model of commutation circuit is set up and simulated. Results indicate that adjusting damp ratio of system is valid to restrain peak of resonance current. Then a new commutation strategy is presented based on variable structure control method. The commutation circuit is redesigned to apply new commutation strategy. Experimental result shows that the peak of resonance current is restrained while commutation speed unchanged. This paper is instructive to design high power supply of VPPAW.
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