In this contribution we develop a physical model for a non contact, high-precision Lorentz force planar motion stage of linear DC brushless type. We derive physical models of the relevant components and investigate so...
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In this contribution we develop a physical model for a non contact, high-precision Lorentz force planar motion stage of linear DC brushless type. We derive physical models of the relevant components and investigate sources and influences of various parasitic effects and disturbances. For the latter, phenomenological models are developed that capture the behavior observed throughout experiments. the position dependency of the Lorentz forces is reduced by a minimum power commutation. Finally, model characteristics and parameters are identified from experimental test rig data.
the Supervisory Control theory allows the modelbased synthesis of restrictive controllers for Discrete Event Systems. To enable the design of enforcing controllers, the consideration of enforceability is reasonable be...
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the Supervisory Control theory allows the modelbased synthesis of restrictive controllers for Discrete Event Systems. To enable the design of enforcing controllers, the consideration of enforceability is reasonable besides the event property of controllability. therefore, either the formal framework may be extended by admitting an appropriate control law, or the modeling strategy may be adjusted. In this paper, we present four different approaches for the consideration of event enforcement in the context of the Supervisory Control theory, discuss their advantages and disadvantages, and compare them by the application to a simple example.
In the paper an approach to Hammerstein system identification based on quantized low-power observations is presented. In the presented approach realisations of discrete-time multisine random processes are used as the ...
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In the paper an approach to Hammerstein system identification based on quantized low-power observations is presented. In the presented approach realisations of discrete-time multisine random processes are used as the Hammerstein system excitation and the overall Hammerstein system identification problem is decomposed into the linear dynamic control channel subsystem, the corresponding disturbance at linear dynamic control channel subsystem output and input memoryless nonlinearity identification problems. the presented discussion is illustrated by a simulation example showing properties of the presented approach.
this paper deals withthe analysis of dynamic behavior of Timed Event Graphs with Multipliers. these graphs are an extension of weighted T-systems studied in the Petri net literature. the purpose of this analyse is to...
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this paper deals withthe analysis of dynamic behavior of Timed Event Graphs with Multipliers. these graphs are an extension of weighted T-systems studied in the Petri net literature. the purpose of this analyse is to extract the performances of a system by analyzing the dynamic of state associated of each transition of graph. For that, we determine the mathematical model governing the dynamic evolution of this type of graph, in a dioid of formal power series based on operators.
Ladder circuits can be considered as two-dimensional (2D) systems where information is propagated in two separate directions, i.e. along the time axis and along a space variable represented by a node number. Further, ...
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Ladder circuits can be considered as two-dimensional (2D) systems where information is propagated in two separate directions, i.e. along the time axis and along a space variable represented by a node number. Further, lifting along nodes is applied to obtain an equivalent 1D dynamical system model. Finally, the Linear Matrix Inequality (LMI) approach is used to develop robust stability conditions for uncertain active ladder circuits.
the paper presents a new approach, based on an algebraic-logical meta-models (ALMM), to solving NP - hard manufacturing problems. there is considered the flow-shop manufacturing problem with time limits, the quality c...
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the paper presents a new approach, based on an algebraic-logical meta-models (ALMM), to solving NP - hard manufacturing problems. there is considered the flow-shop manufacturing problem with time limits, the quality control, removing of manufacturing defects on an additional repair machine and retreatment of task in technological route. Proposed solution consist in switching of original algebraic-logical model to model with modified parameters when quality defects appear. In particular algebraic-logical model of flow-shop manufacturing problem with time limits and modified model with additional repair machine are proposed. Furthermore, the switching function from original model into modified model is given.
Robots have capabilities emulating senses as they can now see, hear and touch, but the sense of smell is just starting to be implemented in mobile applications. the principal task of a smell capable robot is the odor ...
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Robots have capabilities emulating senses as they can now see, hear and touch, but the sense of smell is just starting to be implemented in mobile applications. the principal task of a smell capable robot is the odor source localization. Nevertheless, to obtain the best algorithmic results, the perception of the environment is crucial. One of the difficulties when developing chemical sensors is that the odor exposure saturates the sensor and chemical reactions change the sensor which needs time to be restarted. In this paper we are focusing on the perception problem by including the biologically inspired aspiration process and the qualitative model for the sensorial design. the implementation of proposed design would be an aid to optimize odor source localization techniques.
In semi-active systems with MR dampers very often use of an inverse MR damper model is inevitable. the inverse model could be one of the crucial factors influencing system's performance. Very often higher layer co...
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In semi-active systems with MR dampers very often use of an inverse MR damper model is inevitable. the inverse model could be one of the crucial factors influencing system's performance. Very often higher layer control algorithms' output is the required force to be generated by the MR damper. Usually an inverse MR damper model is used to calculate the value of the necessary control signal to achieve the desired force. the paper presents an approach to inverse modeling of MR damper, which utilizes True RMS calculation of the desired force. that allows to use a very simple inverse MR damper model in semi-active system control, which output is the control signal to the MR damper.
the paper presents an alternative approach to the construction of the surgical robot trajectory adjuster by the use of MEMS type sensors: compass, gyro, and accelerometer. A miniature module withthese systems can be ...
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the paper presents an alternative approach to the construction of the surgical robot trajectory adjuster by the use of MEMS type sensors: compass, gyro, and accelerometer. A miniature module withthese systems can be placed directly to the surgeon's hand-or on the operator's fingers. the advantage of this adjuster is not only its low price, but also a high level of functionality associated withthe extensibility regarding new software modules. An example of built-in function can be a generator of the pathway coming to the surgery field which uses spline polynomials in the representation of Catmull-Rom. In addition, the adjuster of this type is very small and easy to apply on a mobile system, like ambulance, military field ambulance etc.
this paper presents the design and real-time implementation of a Type-2 Fuzzy Logic Proportional-Integral Controller (T2FLPIC) to control the position of a DC servomotor, which controls a robotic arm. Numerous type-2 ...
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this paper presents the design and real-time implementation of a Type-2 Fuzzy Logic Proportional-Integral Controller (T2FLPIC) to control the position of a DC servomotor, which controls a robotic arm. Numerous type-2 defuzzification methods were implemented and judged against each other. A comparative analysis withthe conventional Type-1 Fuzzy Logic Proportional-Integral Controller (T1FLPIC) and a PID controller demonstrates that the T2FLPIC has much improved performance than the T1FLPIC and the PID controller. this improvement is evident when it comes to handling of system disturbances and noise.
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