Nowadays available broadband wireless communication technologies offer a broad spectrum of applications and the todays availability of UMTS technology has a great potential in the area of networked robotics. This work...
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ISBN:
(纸本)9789896740009
Nowadays available broadband wireless communication technologies offer a broad spectrum of applications and the todays availability of UMTS technology has a great potential in the area of networked robotics. This work investigates teleoperation of mobile robots via UMTS communication links. First, several scenarios with artificially generated command traffic between mobile robot and operator are analyzed in order to gain knowledge of the link behavior. In a next step real mobile robot hardware is remote controlled via UMTS. Thereby, the robot transmits sensor data and a video stream of its onboard camera while receiving commands from the operator. The focus of this work is set on the measurement and analysis of the round trip time and the packet inter-arrival time of data in different scenarios like the connection of two UMTS nodes, the connection of an Internet PC and an UMTS node, or the behavior of several UMTS nodes generating a large amount of data. The results clearly show how applications for mobile robot teleoperation can efficiently use UMTS communication in order to allow seamless teleoperation between operator and hardware in distant locations.
In the paper a fast computational routines for identification algorithms for recovering nonlinearities in Hammerstein systems based on orthogonal series expansions of functions are proposed. It is ascertained that bot...
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ISBN:
(纸本)9789898111999
In the paper a fast computational routines for identification algorithms for recovering nonlinearities in Hammerstein systems based on orthogonal series expansions of functions are proposed. It is ascertained that both, convergence conditions and convergence rates of the computational algorithms are the same as their much less computationaly attractive 'theoretic' counterparts. The generic computational algorithm is derived and illustrated by three examples based on standard orthogonal series on interval, viz. Fourier, Legendre, and Haar systems. The exemplary algorithms are presented in a detailed, ready-to-implement, form and examined by means of computer simulations.
In this paper according to the analysis of the manufacturability of aeroengine blade, the manufacturability evaluation is considered a multi-level decision problem, and manufacturability qualitative evaluation method ...
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In this paper according to the analysis of the manufacturability of aeroengine blade, the manufacturability evaluation is considered a multi-level decision problem, and manufacturability qualitative evaluation method based on production rule and manufacturability quantitative evaluation method based on AHP comprehensive evaluation are established. Due to the complexity of the latter method, the detailed solving steps of the process are present and an example is taken for explanation. Using above research methods, product design can be guided according to feedback information by evaluating the part manufacturability.
The polygon image fragment is a special fragment type, whose sides is composed of straight line segment, and it has seldom been researched. In this paper, a new image fragment reassembly methodology based on corner de...
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The polygon image fragment is a special fragment type, whose sides is composed of straight line segment, and it has seldom been researched. In this paper, a new image fragment reassembly methodology based on corner detection and gray correlation is proposed for polygon fragments. The experimentation indicates the reassembly methodology based on corner detection and gray correlation can get good result, although there are rotation, translation and noise between image fragments.
The paper firstly calculates the optimal location of external torpedoes. And then the dynamics model of the UUV hanging torpedoes externally is established. Also, the force and moment the torpedoes exerted on the unma...
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The paper firstly calculates the optimal location of external torpedoes. And then the dynamics model of the UUV hanging torpedoes externally is established. Also, the force and moment the torpedoes exerted on the unmanned underwater vehicle are analyzed. Based on the model, the corresponding maneuverability simulation program is derived using SIMULINK. The results show the variation of the maneuverability after the UUV hanging torpedoes. The simulation also shows that the model is appropriate and the program has strong simulation functions.
The detailed analysis of crack prediction in the continuous casting production at national and abroad has been presented. Based on clustering subtraction of ANFIS fuzzy adaptive network modeling and simulation, the si...
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The detailed analysis of crack prediction in the continuous casting production at national and abroad has been presented. Based on clustering subtraction of ANFIS fuzzy adaptive network modeling and simulation, the simulation result prove that according to the signs, it can forecast cracks before it appear. Resolved the former equipments error crack examination detection problem, lowered the crack occurrence rate effectively, and increased the quantity of the continuous casting slab.
Error of inertial instruments is a very important factor which influences the accuracy of SINS. The error models of the inertial instruments are established, and then error compensation algorithms are deduced which ca...
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Error of inertial instruments is a very important factor which influences the accuracy of SINS. The error models of the inertial instruments are established, and then error compensation algorithms are deduced which can simultaneously compensate the installation error, error of accelerometers, dynamic error and static error of gyroscope integrated. Experimental verification of algorithms shows the algorithms are feasible.
In this paper, a proposition about the relationship between path curve and cart motion is proposed and proved. Based on the proposition, the cubic polynomial is provided as a transition path. This is convenient for de...
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In this paper, a proposition about the relationship between path curve and cart motion is proposed and proved. Based on the proposition, the cubic polynomial is provided as a transition path. This is convenient for designing the trajectory and uniqueness for determining parameters of the path curves by the allowable minimal turn radius of cart. Experimental results, performed on the prototype cart, show that the cart tracks given paths with the cubic polynomial as a transition smoothly and accurately.
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