Applications of switched reluctance motor (SRM) to direct drive robot are increasingly popular because of its valuable advantages. However, a greatest potential defect its torque ripple owing to the significant nonlin...
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In this work we give technical conditions which guarantee the global attractivity of bacterial linear metabolic pathways (reversible and irreversible structures) where both genetic and enzymatic controls involve the e...
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ISBN:
(纸本)9789898425027
In this work we give technical conditions which guarantee the global attractivity of bacterial linear metabolic pathways (reversible and irreversible structures) where both genetic and enzymatic controls involve the end product through metabolic effectors. To reach this goal, we use the negative feedback theorem of the monotone control systems theory, and we represent all conditions needed to apply the negative feedback theorem to the bacterial linear metabolic pathways in convenient deduced forms.
The paper deals with two simple approaches applied to the real-time control of rewinding machine and their comparison. In brief, the comparison of results obtained by nonlinear real-time control with pre-identificatio...
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ISBN:
(纸本)9789898425027
The paper deals with two simple approaches applied to the real-time control of rewinding machine and their comparison. In brief, the comparison of results obtained by nonlinear real-time control with pre-identification, and by adaptive real-time control with on-line identification was performed. The rewinding machine was controlled by PC from MATLAB's Real-Time Toolbox using technological card, terminal board and wires. Each of two used approaches has its advantages and its drawbacks, which was proven, and nonlinear control seemed to be more suitable for the rewinding machine, minimally because of the action signal history from the nonlinear control, the action is more consistent.
In this paper, we describe our current work on bio-inspired locomotion systems using smart materials. The aim of this work is to investigate alternative actuation mechanisms based on smart materials, exploring the pos...
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ISBN:
(纸本)9789898425010
In this paper, we describe our current work on bio-inspired locomotion systems using smart materials. The aim of this work is to investigate alternative actuation mechanisms based on smart materials, exploring the possibility of building motor-less and gear-less robots. A swimming underwater robot is being developed whose movements are generated using such materials, concretely Shape Memory Alloys. This paper focuses on the actuators control in order to obtain a a sufficiently fast and accurate positioning.
Structure-preserving algorithms for solving discrete-time algebraic matrix Riccati equations are presented. The proposed techniques extract the stable deflating subspaces for extended, inverse-free symplectic matrix p...
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ISBN:
(纸本)9789898425003
Structure-preserving algorithms for solving discrete-time algebraic matrix Riccati equations are presented. The proposed techniques extract the stable deflating subspaces for extended, inverse-free symplectic matrix pencils. The algorithms are based on skew-Hamiltonian/Hamiltonian pencils derived by an extended Cayley transformation, which only involves matrix additions and subtractions. The structure-preserving approach has the potential to avoid the numerical difficulties which are encountered for a traditional, non-structured solution, returned by the currently available software tools.
Robot learning from demonstration (LID) requires data collection for mapping the sensory states to motion action, which plays a significant role in the learning efficiency and effectiveness. This paper presents a visu...
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This paper describes a problem of designing control laws preserving a motion along desired path for doubly nonholonomic mobile manipulators. The doubly nonholonomic mobile manipulator is composed of a mobile platform ...
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ISBN:
(纸本)9789898425010
This paper describes a problem of designing control laws preserving a motion along desired path for doubly nonholonomic mobile manipulators. The doubly nonholonomic mobile manipulator is composed of a mobile platform moving without slipping effect between wheels and the surface (i.e. nonholonomic platform) and an onboard manipulator equipped with special nonholonomic gears, designed by Nakamura, Chung and Sørdalen. A task for any nonholonomic subsystem (i.e. nonholonomic platform or nonholonomic manipulator) is to follow a desired path - some geometric curve parameterized by curvilinear distance from selected point. A description of the nonholonomic subsystem relative to the desired path using so-called Frenet parametrization is a basis for formulating the path following problem and designing a kinematic control algorithm.
We present a novel method to obtain the basic frequency of an unknown periodic signal with an arbitrary waveform. The method originates from nonlinear dynamical systems for frequency extraction, which are based on ada...
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ISBN:
(纸本)9789898425010
We present a novel method to obtain the basic frequency of an unknown periodic signal with an arbitrary waveform. The method originates from nonlinear dynamical systems for frequency extraction, which are based on adaptive frequency oscillators in a feedback loop. While using several adaptive frequency oscillators in a loop results in extraction of separate frequency components, our method extracts the basic frequency of the input signal without any additional logical operations. The proposed method uses a whole Fourier series representation in the feedback loop. In this way it can extract the frequency and the phase of an unknown periodic signal, in real-time, and without any additional signal processing or preprocessing. The method also determines the Fourier series coefficients and can be used for dynamic Fourier series implementation. It can be used for the control of rhythmic robotic tasks, where only the extraction of the fundamental frequency is crucial. This is demonstrated on a highly nonlinear and dynamic task of playing the robotic yo-yo.
Implementation of active control has much potential to contribute to the creation and construction of innovative structures. This paper summarizes recent research of the authors that is the study of biomimetic control...
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ISBN:
(纸本)9789898425010
Implementation of active control has much potential to contribute to the creation and construction of innovative structures. This paper summarizes recent research of the authors that is the study of biomimetic control solutions regarding balance and locomotion of robotic systems. A first goal of the work consists in identifying solutions necessary to balance the individual systems. Research has been focused both on systems with a single foot, but also on biped, tripods, quadrupeds, hexapods and octopods. Static balance is achieved by a proper mechanical design (Bizdoaca and Petrisor, 2009), but also by a corresponding load / tensioning actuators systems that can compensate for inertial elements that can lead to system stability limit. Theoretical studies have been focused on developing an efficient stepping algorithm in environment with strong uncertainties, known as SSTA algorithm. The article present a series of experiments made with servo actuated and smart actuated (based on shape memory alloy, especially) walking biomimetic structures.
This paper deals with the problem of obstacle avoidance in the path planning based on Pythagorean Hodograph. The proposed obstacle avoidance approach is based on changing the curvature in case of Pythagorean Hodograph...
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ISBN:
(纸本)9789898425010
This paper deals with the problem of obstacle avoidance in the path planning based on Pythagorean Hodograph. The proposed obstacle avoidance approach is based on changing the curvature in case of Pythagorean Hodograph curves. However this may result in an increase in the length of the path. Furthermore in some cases obstacle avoidance by changing the curvature of the path may result not only in an increase in path length but also to a tremendous increase in bending energy. An increase in bending energy of a path as a result of curvature change above certain limit makes the path very difficult or impossible to fly.
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