This paper presents designing process of the control system with discrete state feedback and neural network based load torque feedforward for permanent magnet synchronous motor fed by true sine wave 3-level neutral po...
详细信息
ISBN:
(纸本)9789898565709
This paper presents designing process of the control system with discrete state feedback and neural network based load torque feedforward for permanent magnet synchronous motor fed by true sine wave 3-level neutral point clamped inverter with an output LC filter. Our main objective is to reduce the effect of load torque changes and to improve dynamic behaviour of the motor during load changing. The full state feedback algorithm has been chosen to control the angular velocity of the motor and to provide true sine wave of the input motor voltages. It was found that gains of the controller and feedforward path are non-stationary and depends on the angular velocity. In such a case linearization and decoupling process of the motor with LC filter is not needed. Simulation results (at the level of 3kW) illustrate the proposed approach.
In order to control a robot, motion data obtained from various interface devices such as haptic and tele-operating interfaces, and a motion capture system, or from predefined parametric equations are needed. It is har...
详细信息
ISBN:
(纸本)9789897580406
In order to control a robot, motion data obtained from various interface devices such as haptic and tele-operating interfaces, and a motion capture system, or from predefined parametric equations are needed. It is hard to store and transmit the data because of their high control frequency and synchronization problem. In addition, usually, all these data are only for one target robot system, i.e., it is hard to use them to other robot system with different hardware limits. In order to solve the problems, the reduction of the original data is conducted with two stage magnitude quantization and the restoration without violating the hardware limits, such as maximum velocity, acceleration, etc., is conducted with the convolution interpolation, in this paper. The proposed method can be used in on-line data transmission and for off-line data storage.
The paper presents an advanced Fuzzy self-tuning PID controller theory and it implement its applications on Data I/O's automated robotic programming systems. Considerable programming technology shift occurred in r...
详细信息
The paper presents an advanced Fuzzy self-tuning PID controller theory and it implement its applications on Data I/O's automated robotic programming systems. Considerable programming technology shift occurred in recent device programmer industry;programming density have been constantly fast growing from lowvolume to high-volume programming for all kinds of non-volatile flash memory devices such as NOR flash, NAND flash, and MMC cards, SD flash cards, serial flash device, serial flash cards, flash-based microcontrollers and flash disks as high performance M-systems DiskOnChip. Device programming mode is more demanding an automatic programming than manual operation mode. It drives the creation and implementation of a high-performance automated programming robotic systems. This paper shows how this proposed advanced Fuzzy self-tuning PID controllers work on these automated programming robotic automation systems.
This paper describes a tool for generating ROS packages and nodes. Compared to the relatively basic traditional package creation method, this tool can generate a whole node structure, including its life-cycle and the ...
详细信息
ISBN:
(纸本)9789897583803
This paper describes a tool for generating ROS packages and nodes. Compared to the relatively basic traditional package creation method, this tool can generate a whole node structure, including its life-cycle and the exposed interface to other ROS nodes. Following a separation of concerns, the developer only defines the interaction means in a XML file, and the tool provides the whole skeleton of the nodes, including the interface creation and management. This way, the developer can focus on his real added value, the implementation of the node logic. Compared to advanced node management frameworks proposed in literature, the tool proposed does not require the developer to understand and agree on complex high-level architecture models. The developer only has to select a template model, and to provide the desired interface to get the code generated. The package generation is made possible thanks to package templates, and we provide with the generator tool two templates for creating nodes either in C++ or Python. The user has also the possibility to design his own template, so that he can develop the one that best fits his needs and best practices. The package generator code is accessible on public repository hosting facilities.
With the continuous progress in robotics and application of such systems in evermore scenarios, safety and flexibility become increasingly important aspects and new designs should thus emphasize real-time capability a...
详细信息
The purpose of the 2010 2nd international asia conference on informatics in control, automation and robotics (CAR 2010) is to bring together researchers, engineers and practitioners interested in the application of in...
The purpose of the 2010 2nd international asia conference on informatics in control, automation and robotics (CAR 2010) is to bring together researchers, engineers and practitioners interested in the application of informatics to control, automation and robotics. Three simultaneous tracks will be held, covering Intelligent control Systems, Optimization, robotics, automation, Signal Processing, Systems Modeling and control. informatics applications are pervasive in many areas of control, automation and robotics; This conference intends to emphasize this connection, therefore, authors should highlight the benefits of Information Technology (IT) in these areas. Ideas on how to solve problems using IT, both in R&D and industrial applications, are welcome. Papers describing advanced prototypes, systems, tools and techniques and general survey papers indicating future directions are also encouraged. Papers describing original work are invited in any of the areas listed below.
This paper considers a hybrid remanufacturing and manufacturing system on a closed-loop supply chain. The system manufactures a set of new products characterized by a multi-level structure through multi-stage assembly...
详细信息
ISBN:
(纸本)9789897580406
This paper considers a hybrid remanufacturing and manufacturing system on a closed-loop supply chain. The system manufactures a set of new products characterized by a multi-level structure through multi-stage assembly operations. The required raw or basic parts can be acquired new from suppliers or provided as new by a de-manufacturing facility which performs a remanufacturing process from acquired old products returned by customers. The quality of returned products has impact on the quantity of recovered basic parts which can be assumed as good as new, and on the duration of the remanufacturing process. The considered problem is to determine the production lots for the system machines as well as the quantity of new basic parts and retuned products to be acquired in order to satisfy a deterministic demand in the time buckets of the planning period. The performance criterion to be minimized includes the acquisition costs for the new and returned items, inventory and production costs, recovering and disposal costs, and tardiness costs. A mixed-integer programming model is proposed and its effectiveness is demonstrated by experiments on a case study.
Today, the state of the art in vehicle safety follows an explicit design flow. Specific sensors measure a particular dimension (e.g. distance to other vehicles) and "safety" is defined as a specific range of...
详细信息
ISBN:
(纸本)9789898565709
Today, the state of the art in vehicle safety follows an explicit design flow. Specific sensors measure a particular dimension (e.g. distance to other vehicles) and "safety" is defined as a specific range of allowed values (e.g. minimal distance). The disadvantage of such an approach is that safety issues which were unconsidered at design time are not detectable. Furthermore, a detection of issues that are only indirectly measurable is difficult to realize. In this paper, a holistic safety monitoring approach is presented that makes use of all available sensor data and tries to find an implicit definition of "safety". By such an inverse approach vehicle safety issues which are hard to be directly measurable might be detectable, too. For instance, an identification of driver-initiated critical situations (e.g. caused by distraction) could be possible if taking multiple sensor modalities into account and having an implicitly defined "safe" state. Furthermore, the article describes the selection of potential test platforms and shows already collected test data of a mobile robot platform. Presented in this work-in-progress paper is the concept of definition, implementation, and detection of implicit vehicle safety.
Autonomous robots such as legged robots and mobile manipulators imply new challenges in the design and the control of their actuators. In particular, it is desirable that the actuators are back-drivable, efficient (lo...
详细信息
暂无评论