With open-architecture control as a basis, some researchers have proposed to develop reconfigurable machine tools controllers (RMTC), which can be reconfigured to control different types of machine tools. this in turn...
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In order to keep its leadership in French rail market and to improve work conditions of its systems engineers during automation projects, the SNCF (French acronym for National Society of French Railways) wants to deve...
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ISBN:
(纸本)9789897583049
In order to keep its leadership in French rail market and to improve work conditions of its systems engineers during automation projects, the SNCF (French acronym for National Society of French Railways) wants to develop solutions increasing the productivity. One of these improvements focuses on the current methodology used by systems engineers to verify and validate PLC programs of electrical installations. this task remains one of the most important during an automation project because it is supposed to ensure installations safety, but it must be optimized. through an industrial thesis financed by SNCF, the aim of this research project is to improve this method and reduce time validation of programs by providing a tool which will help systems engineers to verify and validate quickly and automatically PLC programs during any automation project, not necessarily during factory tests but directly from their office.
the paper presents an alternative to the use of feed-forward neural networks as universal approximators. the alternative is based on the wavelet approximation theory of nonlinear functions. An algorithm from the Evolu...
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ISBN:
(纸本)0780341929
the paper presents an alternative to the use of feed-forward neural networks as universal approximators. the alternative is based on the wavelet approximation theory of nonlinear functions. An algorithm from the Evolutionary Computation class is presented for wavelet network learning which as an optional facility, incorporates the capability for removing irrelevant features from input data in classification applications. the results of a dynamic process forecasting application are also presented.
the paper presents a new architecture for mini-satellites' attitude control using a cluster consisting of four control moment gyros, in pyramidal configuration, and feedback from the quaternion and angular velocit...
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ISBN:
(纸本)9789897581496
the paper presents a new architecture for mini-satellites' attitude control using a cluster consisting of four control moment gyros, in pyramidal configuration, and feedback from the quaternion and angular velocity vectors. the designed control law modifies the cluster's equivalent gyroscopic moment, the equivalent kinetic moment and the angular velocities' vector, this leading to the modification of the quaternion vector and to the change of the satellite's attitude. Matlab environment is used for the architecture's software implementation and validation, this being achieved for a mini-satellite involved in a typical motion around its own axis.
this paper presents the design of Impedance control to a redundantly actuated Parallel Kinematic Manipulator. the proposed control is based on treating each limb as a single system and their connection through the int...
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ISBN:
(纸本)9789897583049
this paper presents the design of Impedance control to a redundantly actuated Parallel Kinematic Manipulator. the proposed control is based on treating each limb as a single system and their connection through the internal interaction forces. the controller introduces a stiffness and damping matrices that decouples the dynamic behaviour of the robot. control allocation of torques is applied through an optimization that promotes even distribution of torques over actuators. Simulations showed a good compliance behaviour in low frequencies.
the paper describes the main conclusions issued from three years of development, of which approximately eighteen months of observations, of an autonomous social robot interacting with children and adults in the Pediat...
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ISBN:
(纸本)9789897581984
the paper describes the main conclusions issued from three years of development, of which approximately eighteen months of observations, of an autonomous social robot interacting with children and adults in the Pediatrics ward of an Oncological hospital. After this long period of trials and continuous interaction, the integration of the robot in that particular social environment can be considered highly successful. the results taken from all the long run experiments yield valuable lessons in what relates social acceptance and user experience to be considered in the case of robot deployment at institutions or even at households. these are detailed in the paper.
the paper deals withthe problem of determination of stability margin of uncertain linear discrete-time systems with parameter uncertainty described by fuzzy numbers. Arbitrary membership functions describing the unce...
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ISBN:
(纸本)9781424478132
the paper deals withthe problem of determination of stability margin of uncertain linear discrete-time systems with parameter uncertainty described by fuzzy numbers. Arbitrary membership functions describing the uncertainty of coefficients of characteristic polynomial are considered. the presented solution is based on transformation of the original problem to Hurwitz stability test and generalization of Tsypkin-Polyak plot.
the inspection of large structures is increasingly carried out withthe help of Unmanned Aerial Vehicles (UAVs). When navigating relative to the structure, multiple data sources can be used to determine the position o...
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ISBN:
(纸本)9789897585227
the inspection of large structures is increasingly carried out withthe help of Unmanned Aerial Vehicles (UAVs). When navigating relative to the structure, multiple data sources can be used to determine the position of the UAV. Examples include track data from an installed camera and sensor data from the orientation sensors of the UAV. this paper deals withthe fusion of this data and its use for navigation alongside the structure. For the sensor fusion, a concept is developed using a Kalman filter and evaluated simulatively in a prototype. the calculated position data are also fed into a vector flight control system, which dynamically calculates and flies a trajectory along the component using the potential field method. this is done taking into account obstacles detected by the onboard sensors of the UAV. the established concept is then implemented withthe Robot Operating System (ROS) and evaluated simulatively.
control of forces and torques seemed to be solved. But the usual method for position controlled robots is not optimal when using a slow interface. In addition, there are differences between control with a compliant se...
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ISBN:
(纸本)9781617387197
control of forces and torques seemed to be solved. But the usual method for position controlled robots is not optimal when using a slow interface. In addition, there are differences between control with a compliant sensor and with a stiff sensor, even more if the sensor is distant from the contact point and with respect to the vector of the desired force. the method proposed in this paper further considers a point-surface contact, from which the sensor cannot infer on rotation. We also consider the automatic detection of this case. A further obstacle to force control with compliant sensors is the fact that only small scale sensors are available. therefore a method for the scaling of existing sensors and an example of its use are presented.
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