this paper deals withcontrol of catalytic flow reversal reactors (CFRR) used for oxidation of greenhouse gases like methane. this system differs from conventional reactors as it is a discrete-event or hybrid system w...
详细信息
this presentation reviews the topic of space robotics. In the space jargon, often any unmanned space probe is called a robotic probe. this acknowledges the challenges of largely autonomous operation in a complex missi...
详细信息
ISBN:
(纸本)3540264132
this presentation reviews the topic of space robotics. In the space jargon, often any unmanned space probe is called a robotic probe. this acknowledges the challenges of largely autonomous operation in a complex mission. In the following, however, the focus will be on space robots: systems involving arms for manipulation or some kind of locomotion device for mobility, having the flexibility to perform varying tasks. As an introduction, some definitions and the rationale for space robotics are given. the main differences between space and terrestrial robots are highlighted, and it is shown that they are driven by the peculiar environmental, system and programmatic constraints of space missions. A second part describes the typical architecture, sub-systems, and some key technologies of robot systems. this distinguishes between manipulator arm and rover type robots. the interdisciplinary system character of space robotics is emphasised. Finally the two main fields of orbital robotics and planetary robotics are introduced, together withthe currently perceived application scenarios (i.e. system servicing and payload tending in Low-Earth-Orbit, satellite servicing in Geostationary Earth Orbit, the assembly of large orbiting structures, and applications in exploration missions to the Moon, Mars, Mercury, comets, asteroids, and other celestial bodies). For each application scenario, the main robotic functions are presented and some developed/in-development robotic systems, most relevant to the CLAWAR conference, are described.
this paper describes a design, development and experience with an universal multi-robotic robot control system. the overall message-driven system concept is introduced together with its open modular architecture. Besi...
详细信息
ISBN:
(纸本)9780780397583
this paper describes a design, development and experience with an universal multi-robotic robot control system. the overall message-driven system concept is introduced together with its open modular architecture. Besides the description of functionalities of basic modules, the approach to the system configuration and hardware abstraction layer is discussed. the control system allows to manage different types of robots in one team, whereas each team member is able to share and interchange any information with other team members. Since a lot of robotic tasks are computationally intensive and cannot be computed onboard, the system allows to distribute selected subtasks among remote computers. the system has been designed as a test-bed for research of new algorithms from an area of cooperative robotics.
the proceedings contain 432 papers. the topics discussed include: GPRS communication system designed for high congestion risk circumstance;an anycast communication model on solving scalability in IPv6;robust stable co...
详细信息
ISBN:
(纸本)1424403421
the proceedings contain 432 papers. the topics discussed include: GPRS communication system designed for high congestion risk circumstance;an anycast communication model on solving scalability in IPv6;robust stable controller design of networked closed-loop systems;robust limit cycle amplitude suppression for a class of uncertain nonlinear control systems;mean-variance portfolio model with consumption;a robust operation model for supply chain with uncertain demands under electronic market;stochastic control in optimal portfolio with regime switching model;a robust dynamic operating model for a supply chain under uncertain markets;output sliding-mode control of discrete-time nonminimum phase systems;design of interface software for a distributed system with mixed varied intelligent meters;a new integrated data structures for 3D GIS;and design of stable and quadratic optimal linear state feedback controllers for TS-fuzzy-model-based control systems.
this paper presents an obstacle-navigation control strategy for a mobile robot suspended on overhead ground wires of 500Kv extra-high voltage (EHV) power transmission lines, based on a novel movement mechanism. the co...
详细信息
Flexible pneumatic bending joint is a new type of joint based on FPA, which can be adopted in multi-Angered dexterous hand design. the changing of average radius and shell thickness of bending joint during movement ar...
详细信息
the requirement that the system and its block diagonal elements have the same unstable poles limits the applicability of μ interaction measure (μ-IM) to stable systems. We propose an extension of the conventional μ...
详细信息
the paper describes possibilities of application of amplitude spectrum analysis and the Dynamic Time Warping (DTW) method in identification of a person via analysis of leg rotation signals. Human motion is a complex p...
详细信息
ISBN:
(纸本)0889865515
the paper describes possibilities of application of amplitude spectrum analysis and the Dynamic Time Warping (DTW) method in identification of a person via analysis of leg rotation signals. Human motion is a complex process and its various characteristics may be used in biometric analysis. Several papers demonstrate that information carried by motion of legs and hips may serve as valuable basis for identifying unique motion patterns of a given person. Using this information allows discovery and identification of captured human motion. Developing methods of such analysis will enable in the future efficient identification of persons from a distance. the paper presents possibilities created by applying various methods of motion analysis and suggests directions of advancing biometric identification.
the objective of the present work is, firstly, to model, then controlthe operation times and finally to obtain performance measures for the Flexible Manufacturing Cell under study. this cell is located in the Robotic...
详细信息
this paper deals with design of new communication protocols for purpose of control messages delivery between components of newly developed tool for measurements of network performance parameters. the measurements are ...
详细信息
ISBN:
(纸本)1841021571
this paper deals with design of new communication protocols for purpose of control messages delivery between components of newly developed tool for measurements of network performance parameters. the measurements are non-intrusive and are focused to get information about QoS (Quality of Service) parameters, such as bandwidth, packet rate, packet loss, one-way delay, jitter and round trip time. For the measurements we use the BasicMeter (BM) - A tool developed by the authors' team in conformance to the newly emerging standard IPFIX (IP Flow Information Export). Based on the new protocols there was introduced a new approach enabling to controlthe developed tool and to improve its efficiency and manageability.
暂无评论