An adaptive neural control scheme for mechanical manipulators is presented. The design basically consists of a neural controller which implements a feedback linearization control law for a generic manipulator with unk...
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The principles for the design of the Switched Reluctance motor drive based on the intelligent computational software package are presented by taking a three-phase 12/8 structure Switched Reluctance motor drive for the...
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ISBN:
(纸本)0780372034
The principles for the design of the Switched Reluctance motor drive based on the intelligent computational software package are presented by taking a three-phase 12/8 structure Switched Reluctance motor drive for the joint of the robot for example. The design could be done from the systematic point of view, considered the motor, the power converter and the control strategy as a whole. The Output equation relating to the relationship between the structure parameters and the electric loads is derived. The equation of the turn numbers of the phase winding is also advanced. The design procedure is given. Some interfaces of the intelligent computational software package at the condition of Windows 9X in English are given. The design is checked by the prototype. The accuracy is checked by the experimental measurement of the developed prototype. It is shown that the design has the advantages in practicality and high precision.
A number of problems in manipulator analysis and control call for the second derivative of the joint- to workspace kinematic mapping of serial or branched manipulators. A derivation of all derivatives of the kinematic...
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In this paper, a neural-fuzzy approach to develop the optimal fuzzy control of a highly nonlinear radial current-controlled active magnetic bearing (AMB) systems is proposed. A linear self-constructing neural fuzzy in...
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This paper presents the software architecture for the composition of geoservices that are used for the discovery, access, processing and visualisation of spatial data in the cadastral systems. The architecture is base...
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This paper presents an automatic dextrous handling and inspection system for optoelectronics components using a novel 6 DOF microgripper. The control system includes three hierarchical layers: actuator control layer, ...
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This paper presents a dynamic model representing the rigid body motion of a four wheel steer and four wheel drive (4WS4WD) vehicle which also takes into account the rotational dynamics of the individual wheels as well...
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This paper presents a dynamic model representing the rigid body motion of a four wheel steer and four wheel drive (4WS4WD) vehicle which also takes into account the rotational dynamics of the individual wheels as well as the tyre terrain interactions. It also presents a modified pursuit algorithm taking into account the kinematic constraints as well as a decentralized wheel propulsion control system. Simulation results are presented to show the model validation and the successful implementation of the path tracking algorithm.
This paper studies the tuning of discrete-time PID controllers for processes that are observed with sensor networks. It is assumed that a wireless sensor network gathers information from the process. The characteristi...
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This paper establishes a scheme for detection and identification of actuator faults in a pneumatic process control valve using neural networks. First, experimental performance parameters related to the valve step resp...
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ISBN:
(纸本)0780372034
This paper establishes a scheme for detection and identification of actuator faults in a pneumatic process control valve using neural networks. First, experimental performance parameters related to the valve step responses, including dead time, rise time, overshoot, and the steady state error are obtained directly from a commercially available software package for a variety of faulty operating conditions. Acquiring training data in this way has eliminated the need for additional instrumentation of the valve. Next, the experimentally determined performance parameters are used to train a multi-layer perceptron network to detect and identify incorrect supply pressure, actuator vent blockage and diaphragm leakage faults. The scheme presented here is novel in that it demonstrates that a pattern recognition approach to fault detection and identification, for pneumatic process control valves, using features of the valve step response alone, is possible.
This paper presents a multi-purpose measurement system developed to automate cellular microinjection. The system is based on measuring impedance between an injection solution in an injection capillary and cell culture...
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