Arc welding is a complex phenomenon involving intensive interactions among heat, arc and arc force. To minimize the undesirable interference in weld pool imaging, a pulsed laser beam projects a strong illumination ont...
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ISBN:
(纸本)9783540733737
Arc welding is a complex phenomenon involving intensive interactions among heat, arc and arc force. To minimize the undesirable interference in weld pool imaging, a pulsed laser beam projects a strong illumination onto the weld pool area. The ultra-high shutter speed vision system is synchronized to capture the weld pool image in the given short period. Through image processing, the geometrical information of the weld pool is obtained. It is input to a neurofuzzy logic controller so that the welding parameters like welding current and welding speed can be changed in real time to achieve desired weld dimension in response to the changes in welding conditions.
We consider hidden Markov processes in discrete time with a finite state space X and a general observation or read-out space gamma. The identification of the unknown dynamics is carried out by the conditional maximum-...
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ISBN:
(纸本)9783540735694
We consider hidden Markov processes in discrete time with a finite state space X and a general observation or read-out space gamma. The identification of the unknown dynamics is carried out by the conditional maximum-likelihood method. The normalized log-likelihood function is shown to satisfy a uniform law of large numbers over certain compact subsets of the parameter space. Two cases are covered: first, when the running value of the transition probability matrix, denoted by Q is positive, second, when Q is primitive, but the read-out densities are strictly positive.
In teleoperated robotic systems, a user controls a robotic manipulator via an input device. Generally the position and velocity commands generated by the user in free space can be arbitrary in the workspace of the inp...
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ISBN:
(纸本)9783540733737
In teleoperated robotic systems, a user controls a robotic manipulator via an input device. Generally the position and velocity commands generated by the user in free space can be arbitrary in the workspace of the input device. However, due to the mechanical limitation and workspace constraints of a manipulator, the manipulator cannot always exactly follow the input command and often runs into a stop. This paper proposes a haptic teleoperation method to enable a user to control a manipulator conveniently and without violating constraints of the manipulator. The configuration constraints and mechanical limits, such as singularities and joint limits, are converted into a constraining force. It is then fed back to the user via a haptic device to restrict the motion of the user's hand so that the manipulator can be operated smoothly without being interrupted by constraint violation. Experimental results demonstrate the feasibility of the proposed method.
The fractional- order PI alpha D-beta controller is more flexible and gives an opportunity to better adjust dynamical properties of a fractional-order control system than the traditional PID controller. However, the p...
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ISBN:
(纸本)9783540733737
The fractional- order PI alpha D-beta controller is more flexible and gives an opportunity to better adjust dynamical properties of a fractional-order control system than the traditional PID controller. However, the parameter selection is more difficult for such a controller, because it introduces two additional parameters alpha and beta. For this problem, this paper proposes a fractional-order PI alpha controller with self-tuning parameters based on neural network, and discusses the discretization method and the design method of the PI alpha controller. The architecture of back-propagation neural networks and parameters self-tuning algorithm of the controller are described. Experiment results show that the controller presented not only maintains the performance of the normal fractional-order PI alpha controller, but also has better flexibility and parameters self-tuning ability.
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.
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