The ASAM standard has identified subsystems within automation and measuring systems as well as standard interfaces between these subsystems. One of these interfaces, called GDI (Generic Device Interface), defines the ...
ISBN:
(纸本)9783540411338
The ASAM standard has identified subsystems within automation and measuring systems as well as standard interfaces between these subsystems. One of these interfaces, called GDI (Generic Device Interface), defines the connection to measurement devices and intelligent subsystems. ASAM-GDI ensures the interoperability of real-time subsystems by separating the implementation code of device drivers and their interface descriptions, called DCD (Device Capability Description). DCD describes an object-like interface of procedural real-time components (device drivers) using the DCD language. In this paper it is shown how the DCD language and its constructs can be mapped to UML notation using the standard UML extension mechanisms. Advantages of modeling DCD using UML are numerous: uniform and standard graphical representation of device capabilities, improvement in DCD development, straightforward extension of DCD using UML notation, standard exchange text format of DCD documents using XMI (XML Metadata Interchange), etc. The definition of UML extensions for DCD contributes to the acceptance of the ASAM-GDI standard and simplifies the development of ASAMGDI tools in the future. It is also an example how similar constructs, i.e. blocks with inputs and outputs, can be specified using UML.
Inspired by multifunctional neural networks in biological brain, this paper is concerned with building multifunctional learning ability for artificial neural networks. A multiagent based evolutionary artificial neural...
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This paper proposes the notion that mobile agent technology can improve the alignment between IT systems and the real world processes they support. This can aid enterprise agility, particularly where distributed infor...
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This paper proposes the notion that mobile agent technology can improve the alignment between IT systems and the real world processes they support. This can aid enterprise agility, particularly where distributed information is a feature, as in the virtual enterprise. A model of the manufacturing sales/order process is proposed. The sales order is shown to be a naturally mobile element of the model. The subsequent decomposition of the agent types during detailed design and implementation reveals an abstract pattern for database query using agent technology. Finally, an overview of the security issues associated with mobile agents is discussed. (C) 1999 Elsevier Science B.V. All rights reserved.
In this paper we consider the problem of the optimal design in robotics system, first we discus the problems related to the optimization of the mechanical structure in dimensions and performance, then the control syst...
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In this paper we consider the problem of the optimal design in robotics system, first we discus the problems related to the optimization of the mechanical structure in dimensions and performance, then the control system and the controller Optimal Time-Energy Trajectory Planning based on the complete model of the robot and takes into account intrinsic and extrinsic constraints, the robot singularities and the task and environment requirements, then an adaptive feedback tracker is developed, this controller is of mixed type, it consists of: on the one hand the predictive control which uses a precise model of the manipulator identified in real time, and gives the torque to apply on the articulations in order to assure the desirable movement, on the other hand it uses a nonlinear corrector composed of a proportional, derivative, control with adaptive gain chosen such that the error on the displacement and on the speed tens to zero. An adaptive estimation algorithm is also considered to identify on-line the structural variable parameters of the robot. Some numerical results are given, the real time implementation is also discussed.
Biped robots have better mobility than conventional wheeled robots, but they tip over easily. In order to walk stably in various environments such as rough terrain, up and down slopes, or regions containing obstacles,...
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Biped robots have better mobility than conventional wheeled robots, but they tip over easily. In order to walk stably in various environments such as rough terrain, up and down slopes, or regions containing obstacles, it is desirable to adapt to such ground conditions with a suitable foot motion, and maintain the stability of the robot by a smooth hip motion. We propose a method to plan a walking pattern consisting of a foot trajectory and a hip trajectory. First, we formulate the constraints of a foot trajectory, and generate the foot trajectory by 3rd order spline interpolation. By setting the values of constraint parameters, it is easy to produce different types of foot motion. Then, we formulate a hip trajectory using a 3rd order periodic spline function, and derive the hip trajectory with high stability. Finally, the effectiveness of the proposed method is illustrated by simulation examples.
We propose in this work the first model-based robust control method for a team of underactuated manipulators jointly manipulating a load. The method is based on feedback linearization of the nonlinear dynamic coupling...
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We propose in this work the first model-based robust control method for a team of underactuated manipulators jointly manipulating a load. The method is based on feedback linearization of the nonlinear dynamic coupling between the torques applied at the actuated joints and the Cartesian acceleration of the load, combined with a variable structure controller. Singularities in the control method are addressed, and a sufficient condition for a singularity-free controller implementation is obtained. Simulation and experimental results are presented to validate the theory presented.
Frob or functional robotics is a domain-specific language embedded in Haskell to control robotic systems. It promotes a style of programming largely independent of the underlying hardware. Frob is based on the core of...
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Frob or functional robotics is a domain-specific language embedded in Haskell to control robotic systems. It promotes a style of programming largely independent of the underlying hardware. Frob is based on the core of Fran, a reactive system for computer animation.
Robot manipulators are expected to perform more sophisticated tasks under unlimited environment. In order to realize these tasks, the robot manipulators have to be flexible enough to work in an unknown environment. In...
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Robot manipulators are expected to perform more sophisticated tasks under unlimited environment. In order to realize these tasks, the robot manipulators have to be flexible enough to work in an unknown environment. In this paper, we propose an effective adaptive neural network feedback controller for hybrid position/force control of robot manipulators for an unknown environment by applying new types of neurons which possess visco-elastic properties. The unexpected overshooting and oscillation caused by the unknown and/or unmodeled dynamics of a robot manipulator and an environment can be decreased efficiently by the proposed visco-elastic neurons. The effectiveness of the proposed visco-elastic neural network controllers is evaluated by simulation with the model of a 3-DOF direct-drive planar robot manipulator.
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