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共 547 条记录，以下是521-530 订阅

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Adaptive observer based actuator fault diagnosis for ASV

Adaptive observer based actuator fault diagnosis for ASV

引用

3rd international conference on Innovative Computing Information and control, ICICIC'08

作者： Wang, Jianfei Jiang, Bin Shi, Peng Wang, Hankang College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing 210016 China Faculty of Advanced Technology University of Glamorgan Pontypridd CF37 1DL United Kingdom Department of Computer Science VII: Robotics and Telematics Universtity of Würzburg 97074 Würzburg Germany

ISBN: (纸本)9780769531618

This paper deals with the actuator fault diagnosis and accommodation problem for the aero space vehicle (ASV). A novel nonlinear robust adaptive observer is developed for estimation of the actuator fault under the lipschitz condition on the nonlinear part of such systems, which is used to continuously accommodate the control signal, so as to ensure the stability of faulty system. Finally, simulation results about ASV are presented to illustrate the feasibility and effectiveness of the proposed methods. © 2008 IEEE.

关键词： Fault detection

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Synthesis of constrained nr planar robots to reach five task positions 3rd

引用

3rd international conference on robotics Science and Systems, RSS 2007

作者： Soh, Gim Song McCarthy, J. Michael Robotics and Automation Laboratory University of California IrvineCA92697-3975 United States Department of Mechanical and Aerospace Engineering University of California IrvineCA92697-3975 United States

ISBN: (纸本)9780262524841

In this paper, we design planar nR serial chains that provide one degree-of-freedom movement for an end-effector through five arbitrarily specified task positions. These chains are useful for deployment linkages or the fingers of a mechanical hand. The trajectory of the end-effector pivot is controlled by n-1 sets of cables that are joined through a planetary gear system to two input variables. These two input variables are coupled by a four-bar linkage, and the movement of the end-effector around its end joint is driven by a second four-bar linkage. The result is one degree-of-freedom system. The design of the cabling system allows control of the shape of the chain as it moves through the task positions. This combines techniques of deployable linkage design with mechanism synthesis to obtain specialized movement with a minimum number of actuators. Two example designs for a 6R planar chain are presented, one with a square initial configuration and a second with a hexagonal initial configuration.

关键词： End effectors

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The Anti-wave control of small open-frame underwater robot

The Anti-wave control of small open-frame underwater robot

引用

international conference on Intelligent System and Knowledge engineering, ISKE

作者： Heping Liu Zhenbang Gong Min Li Department of Precision Machinery School of Mechatronics Engineering and Automation Shanghai University Shanghai China Electronic & Information Engineering College Henan University of Science and Technology Luoyang Henan China

This article describes the research on the anti-wave performance of small open-frame underwater robot. Through a series of study and modeling, a computer-based numerical calculus was done on the motion round the longitudinal axis of a remotely operating vehicle (ROV) in wave. In the practical application of near surface, as the manipulators of the ROV are gripping the object, the attitude of the ROV should be kept stable. To reduce the rolling amplitude of the ROV, a control method based on the fuzzy algorithm is applied to choke back the rolling response process induced by wave. By using the lateral thrusters on the ROV, a rolling moment is applied to influence the rolling response. By comparing the results between the simulation and the numerical calculus, some effect can be found. As the similar research on ROV attitudes in wave is seldom, this study is only a exploration. Finally, a new idea of the simultaneously control of rolling and pitching is presented.

关键词： Remotely operated vehicles Gravity robotics and automation Intelligent systems Intelligent robots Knowledge engineering Robot kinematics Calculus Machine intelligence control systems

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Adaptive Observer Based Actuator Fault Diagnosis for ASV

Adaptive Observer Based Actuator Fault Diagnosis for ASV

引用

international conference on Innovative Computing, Information and control (ICICIC)

作者： Jianfei Wang Bin Jiang Peng Shi Hankang Wang College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing China Faculty of Advanced Technology University of Glamorgan Pontypridd UK Department of Computer Science VII: Robotics and Telematics University of Wurzburg Wurzburg Germany

This paper deals with the actuator fault diagnosis and accommodation problem for the aero space vehicle (ASV). A novel nonlinear robust adaptive observer is developed for estimation of the actuator fault under the Lipschitz condition on the nonlinear part of such systems, which is used to continuously accommodate the control signal, so as to ensure the stability of faulty system. Finally, simulation results about ASV are presented to illustrate the feasibility and effectiveness of the proposed methods.

关键词： Fault diagnosis Actuators Observers Estimation Algorithm design and analysis Robustness Adaptive systems

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An application of real-time operating system in high speed and high precision motion control systems

An application of real-time operating system in high speed a...

引用

3rd IEEE international conference on automation Science and engineering, IEEE CASE 2007

作者： Donglin, Pu Xinjun, Sheng Weijun, Zhang Han, Ding IEEE Robotics Institute School of Mechanical Engineering Shanghai Jiaotong University No.800 Dongchuan Rd. Shanghai 200240 China

ISBN: (纸本)1424411548

This paper addresses the development and applications of the control system based on the real-time operating system (RTOS) RTX which constructs an open architecture control system with real-time performance, flexibility and low cost. In this paper, the RTX-based control system is considered from RTOS evaluation, system-level design, to experiments and applications. A novel software structure consisting of Windows, Labview or Matlab, and RTX is presented, which makes the trade-off between real-time tasks running and data processing or displaying. Finally, the control system is successfully applied in two direct-drive high speed and high precision motion platforms. © 2007 IEEE.

关键词： Real time systems

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Design and implementation of an FPGA-based SVPWM IC for PWM inverters

Design and implementation of an FPGA-based SVPWM IC for PWM ...

引用

4th international conference on Informatics in control, automation and robotics, ICINCO 2007

作者： Tsai, Cheng-Hung Lu, Flung-Ching Department of Electrical Engineering China Institute of Technology 245 Yen-Chiu Yuan Road 3rd Sec. Taipei 11581 Taiwan Department of Electrical Engineering Tatung University 40 Chungshan North Road 3rd Sec. Taipei 10451 Taiwan

This paper presents a new circuit design scheme of the space-vector pulse-width modulation (SVPWM) strategy, including linear and overmodulation ranges. The proposed scheme has been developed using the state-of-the-art field-programmable gate array (FPGA) technology. The SVPWM control integrated circuit (IC) can be realized by using only a single FPGA (Cyclone) from Altera, Inc. Experimental results show that this controller can present an excellent drive performance and its switching frequency, which can be set to over 100kHz, is adjustable as well as its deadtime. The output fundamental frequency can be adjusted over 2000Hz. This SVPWM IC can be included in the digital current control loop for stator current regulation. The IC also provide a simple hardware and low cost for high-performance ac drives.

关键词： Integrated circuits

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ICINCO 2006 - 3rd international conference on Informatics in control, automation and robotics, Proceedings

ICINCO 2006 - 3rd International Conference on Informatics in...

引用

3rd international conference on Informatics in control, automation and robotics, ICINCO 2006

ISBN: (纸本)9728865600

The proceedings contain 175 papers. The topics discussed include: Holonic Stigmergy as a mechanism for engineering self-organizing applications;symbiosis of human and communication robots;wave-based control of flexible mechanical systems;a multi-agent home automation system for power management;distributed emergency management with spatial scenarios;Monte Carlo localization in highly symmetric environments;a performance metric for mobile robot localization;simultaneous localization and mapping in unmodified environments using stereo vision;a solution for evaluating the stopper quality in the cork industry;estimation of performance of heavy vehicles by sliding modes observers;features extraction and training strategies in continuous speech recognition for Romanian language;sonar buoys: an improved design approach;an algorithm evaluation test suite for blind source separation problem;and the use of modulating functions for identification of continuous systems with time-varying parameters.

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ICINCO 2006 - 3rd international conference on Informatics in control, automation and robotics, Proceedings

ICINCO 2006 - 3rd International Conference on Informatics in...

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3rd international conference on Informatics in control, automation and robotics, ICINCO 2006

ISBN: (纸本)9728865597

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ICINCO 2006 - 3rd international conference on Informatics in control, automation and robotics, Proceedings

ICINCO 2006 - 3rd International Conference on Informatics in...

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3rd international conference on Informatics in control, automation and robotics, ICINCO 2006

ISBN: (纸本)9728865619

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Multiprocessor robot controller -: An experimental robot controller for force-torque control tasks

Multiprocessor robot controller -: An experimental robot con...

引用

3rd international conference on Informatics in control, automation and robotics

作者： Olah, Istvan Tevesz, Gabor Budapest Univ Technol & Econ Dept Automat & Appl Informat Goldmann Gyorgy Ter 3-4em Budapest Hungary

ISBN: (纸本)9728865600

There is ongoing research and development in the field of hybrid position and force control of the assembly robots at the Department of automation and Applied Informatics and the Department of control engineering and Information Technology, Budapest University of Technology and Economics. As result, an Experimental Robot controller was built for the special needs of the project. Both the hardware and the software system of the controller are under continuous development. The most recent achievement is, a built in six-component force-torque sensor. The development of the software system is currently dealing with the extension of the programming environment with force-torque control possibilities. There are numerous industrial applications for force and torque control (i.e. screw driver, welder), but a flexible equipment can provide much more than just the possibility of solving a single task. This paper presents an overview of the robot controller hardware, separately detailing the force-torque sensor interface. The second part of this paper overviews the software system of the controller and the possibilities of its extensions for force control tasks.

关键词： robot controller multiprocessor systems PUMA 560 QNX digital signal processor hybrid position and force control

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