One major challenge for the robot base coordinate system calibration is how to improve accuracy and robustness of calibration results. The objective of this paper is to propose a pose relationship calibration approach...
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ISBN:
(纸本)9798350360875;9798350360868
One major challenge for the robot base coordinate system calibration is how to improve accuracy and robustness of calibration results. The objective of this paper is to propose a pose relationship calibration approach between the multi-degree-of-freedom manipulator and external measuring equipment based on Levenberg-Marquadrdt (LM) algorithm. Specifically, a closed chain configuration is adopted to construct the pose relationship, with the coordinate transformation involving both rotation and translation transformations being formulated mathematically. The calibration solution is then estimated using the LM iteration method through least squares optimization. The proposed calibration approach possesses the advantage of not only reducing the impact of measurement noise on the calibration accuracy greatly, but also avoiding the non-orthogonalization problem encountered when solving for the rotation matrix. Numerical simulations are conducted to assess calibration accuracy and robustness in presence of different levels of noise.
The performance of programmable logic controllers (PLCs) in and industrial environment is investigated. A survey is first presented which briefly deals with the general adaptation and suitability of programmable contr...
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ISBN:
(纸本)0780304535
The performance of programmable logic controllers (PLCs) in and industrial environment is investigated. A survey is first presented which briefly deals with the general adaptation and suitability of programmable controllers in some Swedish plants. The reasons behind the decision to use or not to use PLCs in safety systems are then investigated. The aspects of a burner control system for a certain boiler are considered. Safety and risk aspects are discussed in terms of reliability, installation, and the human element. The study shows the superiority of PLC systems over conventional relay technology, but also that PLCs are seldom used in safety connections mainly due to nontechnical factors such as human conservatism.
Organic Rankine Cycle (ORC) is particularly suitable for the recovery of energy from low-quality heat sources. In this paper, a generalized predictive controller is proposed for a low-quality heat recovery process ope...
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The growing demand for active safety systems implies also the requirement for new and suitable evaluation and test processes for such systems. However, the evaluation of these systems is in most cases a non trivial, t...
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ISBN:
(纸本)9780780393912
The growing demand for active safety systems implies also the requirement for new and suitable evaluation and test processes for such systems. However, the evaluation of these systems is in most cases a non trivial, time consuming and expensive task. Especially, for active pedestrian protection systems, which are based on infrared detection of humans. In this paper we present a simulation of Thermopile sensors to evaluate the performance of an infrared based pedestrian detection system. By means of the simulation tool, any test scenario can be generated and the simulation provides the sensor data to the generated scenario. The simulated sensor output depends on the objects placed in the virtual environment and the background radiation. Considering the physical sensor dimensions and Planck's radiation law, an approximate image of the reality can be achieved. Thereby, it is possible to simulate pedestrian crash tests, which saves extensive time of testing and enables a fast optimization and adaption of the system.
An induction generator paralleled with constant capacitors and connected ac power lines through dc-link converters, which consist of a phase-controlled rectifier and a line-commutated inverter, is studied. The reactiv...
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An induction generator paralleled with constant capacitors and connected ac power lines through dc-link converters, which consist of a phase-controlled rectifier and a line-commutated inverter, is studied. The reactive power for the magnetization of the induction generator is supplied by the capacitors, and the surplus reactive power is absorbed by the machine-side converter as the lagging reactive power. It was found that the commutation range of the machine-side converter is extended in the leading control angle region because of the resonance between capacitors and leakage inductances of the machine, and the generator can handle more than the load in the normal lagging control angle region. Harmonic voltages due to the resonance help the commutation of the machine-side converter and extend the output capacity of the generator system. Experimental verification with a 2. 2 kW standard squirrel-cage induction machine is described.
This paper explores the active reliable control issues for a class of uncertain nonlinear affine systems using an Integral-type Sliding Mode control (ISMC) scheme. The presented scheme not only maintains the main adva...
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Today, Coriolis meters offer the best performance in the mass-flow measurement. For those applications where a high accuracy and a low pressure drop together with the easy clearance conditions are needed, the single o...
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Today, Coriolis meters offer the best performance in the mass-flow measurement. For those applications where a high accuracy and a low pressure drop together with the easy clearance conditions are needed, the single oscillating straight pipe will be the best choice. The tube oscillates in resonance, and the resonance frequency encodes the information about the density of the fluid, which is, together with mass flow, an important parameter for the quality and process control. A shortcoming of the density measurement with today's Coriolis mass flowmeters (CMFs) is the lack of the sophisticated compensation schemes that take into account,the influence of the temperature, flowrate, pressure, viscosity, etc., on the resonance frequency. Nevertheless, several heuristic methods to correct the density readings are in use and lead to satisfying solutions. However, these methods are complex, device specific, and rather expensive. In this paper, a method is presented to overcome these drawbacks. It is based on a dynamic model of the mass flowmeter and allows for the parameter identification of the measuring tube during operation. To be more specific, the effective spring constant of the oscillating tube is detected online. Using this result, the vibrating,mass and, subsequently, the density of the fluid are calculated by taking into account the resonance frequency.
Depend on mathematical model of the AC Permanent Magnet Synchronous Motor (PMSM) loop control system, and space vector modulation method, we make model-analysis and simulation for positioning loop, velocity loop and c...
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For the lack of effective security guarantee and risk assessment and forewarning in the process of remediation of contaminated sites, as well as the potential safety problem of secondary pollution, an intelligent mana...
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A fuzzy controller to support older adults should be robust and respond effectively to real-life situations such as illumination changes, ambient noise, and decision-making in critical situations. Following this appro...
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ISBN:
(纸本)9781479966448
A fuzzy controller to support older adults should be robust and respond effectively to real-life situations such as illumination changes, ambient noise, and decision-making in critical situations. Following this approach, this paper presents the general design of "SA(3)M", an autonomous support system for older adults that implements facial recognition, voice response and the use of various sensors to prevent or alert dangerous situations (gas leaks, fires, etc.). Furthermore, this paper addresses the problem of automatic microphone sensitivity control (Automatic Gain control) in the processing of voice commands. To validate the proposed approach, the fuzzy controller was tested with a wide range of ambient noise levels and produced promising results.
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