This paper considers the problems of stochastic stability and performance analysis for Markovian jump systems interconnected over an undirected graph is considered. A sufficient condition for the well-posedness, stoch...
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ISBN:
(纸本)9781538666630
This paper considers the problems of stochastic stability and performance analysis for Markovian jump systems interconnected over an undirected graph is considered. A sufficient condition for the well-posedness, stochastic stability and contractive performance of such systems is presented in terms of linear matrix inequalities (LMIs), which gives a theoretical foundation for the further research. A numerical simulation is given to show the validity of the results.
This paper presents a technique to integrate WirelessHART devices into Mitsubishi PLC for plant monitoring. The integration between WirelessHART devices and Mitsubishi PLC is based on OPC technologies. DASMTEthernet O...
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ISBN:
(纸本)9781538666630
This paper presents a technique to integrate WirelessHART devices into Mitsubishi PLC for plant monitoring. The integration between WirelessHART devices and Mitsubishi PLC is based on OPC technologies. DASMTEthernet OPC and DASMBTCP OPC are used to communicate between WirelessHART devices, Mitsubishi PLC and SCADA software. Commercial WirelessHART devices and Mitsubishi PLC are used in experiment. The experimental testing with Pneumatic object moving plant shown the proposed system can monitor pressure and temperature of air compressor and stop the operation of Pneumatic object moving plant when the pressure and temperature of the air compressor are out of defined range. The experimental results illustrated here are useful people interested in the use of measuring multiple parameters for monitoring conditions of industrial plant controlled by Mitsubishi PLC including commercial PLC.
This paper has proposed an easily replicable and novel approach for developing a Digital Twin (DT) system for industrial robots in intelligent manufacturing applications. Our framework enables effective communication ...
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ISBN:
(纸本)9798350358513;9798350358520
This paper has proposed an easily replicable and novel approach for developing a Digital Twin (DT) system for industrial robots in intelligent manufacturing applications. Our framework enables effective communication via Robot Web Service (RWS), while a real-time simulation is implemented in Unity 3D and Web-based Platform without any other 3rd party tools. The framework can do real-time visualization and control of the entire work process, as well as implement real-time path planning based on algorithms executed in MATLAB. Results verify the high communication efficiency with a refresh rate of only 17ms. Furthermore, our developed web-based platform and Graphical User Interface (GUI) enable easy accessibility and user-friendliness in real-time control.
This paper proposes a robust sliding mode controller, which is derived based on the extended state observer and the sliding mode control techniques for a roll-to-roll machine to deal with the system uncertainty proble...
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ISBN:
(纸本)9789898565709
This paper proposes a robust sliding mode controller, which is derived based on the extended state observer and the sliding mode control techniques for a roll-to-roll machine to deal with the system uncertainty problem of unknown system nonlinear functions, and external disturbances. It is worth noting that the proposed sliding mode control scheme can be implemented without the condition that the system nonlinear functions, and the upper bounds of external disturbances must be known in advance and it can achieve the web transmitting speed and tension control goals satisfactorily, which are validated by numerical simulation results.
A novel adaptive sliding mode control algorithm is derived to deal with synchronized joint position tracking control of robot manipulators. The proposed algorithm does not require the precise dynamic model, and is ver...
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ISBN:
(纸本)9789897581496
A novel adaptive sliding mode control algorithm is derived to deal with synchronized joint position tracking control of robot manipulators. The proposed algorithm does not require the precise dynamic model, and is very practical. The cross-coupled technology is incorporated into the adaptive sliding mode control architecture through feedback of joint position errors and synchronization errors. Its robustness is verified by the Lyapunov stability theory. Simulation results obtained from a 3-link non-linear planer robot manipulator demonstrate the effectiveness of the approach under various disturbances.
There is an increasing interest in endowing robots with emotions. Robot control however is still often very task oriented. We present a cognitive architecture that allows the combination of and interaction between tas...
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ISBN:
(纸本)9783642193842
There is an increasing interest in endowing robots with emotions. Robot control however is still often very task oriented. We present a cognitive architecture that allows the combination of and interaction between task representations and affective information processing. Our model is validated by comparing simulation results with empirical data from experimental psychology.
The proposed work is devoted to the mathematical analysis of the nonlocal boundary value problem that arises in the mathematical modeling of the dynamics of the age structure of the population taking into account the ...
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This paper presents the formulation of the ingot cutting problem, which consists in the need to produce a set of blanks from an ingot in an optimal way. The main difference from the classical packaging problems is the...
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This paper presents a method to reduce the data collected by a 3D laser range sensor. The complete point cloud consisting of several thousand points is hard to process on-line and in real-time on a robot. Similar to n...
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ISBN:
(纸本)9789728865832
This paper presents a method to reduce the data collected by a 3D laser range sensor. The complete point cloud consisting of several thousand points is hard to process on-line and in real-time on a robot. Similar to navigation tasks, the reduction of these points to a meaningful set is needed for further processes of object recognition. This method combines the data from a 3D laser sensor with an existing 2D map in order to reduce mapped feature points from the raw data. The main problem is the computational complexity of considering the different noise sources. The functionality of our approach is demonstrated by experiments for on-line reduction of the 3D data in indoor and outdoor environments.
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