This paper, we propose a new design of linear descriptor discrete time mechanical system control law by using model following control system (MFCS). In previous studies, a method of MFCS was proposed by S. Okubo [11[2...
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ISBN:
(纸本)9781424451944
This paper, we propose a new design of linear descriptor discrete time mechanical system control law by using model following control system (MFCS). In previous studies, a method of MFCS was proposed by S. Okubo [11[2]. In this paper, the method of MFCS will be extended to discrete time descriptor mechanical system. The bounded property of internal states for control system is given and utility of this control design is guaranteed. In this case, a new criterion is proposed to ensure that internal states are stable.
The modeling of needle insertion into tissues is important for simulation of this procedure and for robotic technologies applied to percutaneous therapy. In this article, we present a first attempt to develop a genera...
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ISBN:
(纸本)9781424451944
The modeling of needle insertion into tissues is important for simulation of this procedure and for robotic technologies applied to percutaneous therapy. In this article, we present a first attempt to develop a general force model for the needle insertion throw different tissue layers (skin, fat and muscle) to reach an internal organ (the liver, for instance) with objectives of control, looking for an optimal (less invasive and more accurate) puncture task. The forces are divided into three parts: stiffness, a nonlinear model;friction, a modified Dahl model;and cutting, a constant for a given tissue. Results show that the overall shape of forces presents the main phases of a needle insertion through several tissue layer.
Micro-credit became a new phenomenon in the present world due to its recognition of an efficient weapon to fight against poverty. A current investigation proved that, more than 1.3 billion inhabitants are struggling t...
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Micro-credit became a new phenomenon in the present world due to its recognition of an efficient weapon to fight against poverty. A current investigation proved that, more than 1.3 billion inhabitants are struggling to earn a smaller amount one dollar ($1) a day where they are captivated by extreme shortage of basic needs such as;food, cloth, shelter, treatment and education. Recently a tremendous success has been displayed to eradicate poverty using micro-credit loan and every year 1% of total population is coming out from poverty. However, reducing poverty is more successful in rurul areas than in urban areas because of its random access in remote places. In every year half a billion US dollar are given to 7.5 million borrower throughout the country as a micro-loan to break the vicious cycle of poverty. So, this paper approachs to explore Grameen Bank's activities and the way it assists eneormously to develop the living standard of the poor and vulneralve people in Bangladesh and encourages to apply this model in different countries.
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.
A real-time kernel is software that manages the time of a microprocessor or microcontroller to ensure that all time critical events are processed as efficiently as possible .This paper describes how μC/OS-II has been...
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A real-time kernel is software that manages the time of a microprocessor or microcontroller to ensure that all time critical events are processed as efficiently as possible .This paper describes how μC/OS-II has been ported to the Microchip dsPIC33 family of CPU and mainly analizes the interrupt handling methods in proting process .
The underwater hovering of submarine is a nonlinear process, which changes with the submarine state and navigation condition. Analysis is made on motion characters, realizing conditions and disturbing factors for subm...
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The underwater hovering of submarine is a nonlinear process, which changes with the submarine state and navigation condition. Analysis is made on motion characters, realizing conditions and disturbing factors for submarine. The submarine hovering mathematic model is established, as well as the disturbing force. PID control is used to simulate submarine hovering, which provides the technical support.
Election campaign algorithm (ECA) is a new heuristic optimization algorithm, it acts by simulating the behavior that the election candidates pursue the highest support in campaign all along. Test functions are applied...
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ISBN:
(纸本)9781424451920
Election campaign algorithm (ECA) is a new heuristic optimization algorithm, it acts by simulating the behavior that the election candidates pursue the highest support in campaign all along. Test functions are applied to verify the ECA. The computational results show that ECA is able to find out the global solution entirely.
In this paper, the Mobile Parallel Robot (MPR) with structural configurations of PPUU (Prismatic - Prismatic - Universal - Universal) is developed. The inverse kinematics is firstly derived and a specific control syst...
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This paper represents a framework of the rotating scanning photograph platform. The photograph platform is used for multi-baseline digital close-range photogrammetry. It can provide a sequence of images with stable ov...
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This paper represents a framework of the rotating scanning photograph platform. The photograph platform is used for multi-baseline digital close-range photogrammetry. It can provide a sequence of images with stable overlap angles. This paper describes hardware and software design of the platform. Users can implement a custom photography plan with it. This is a step forward in the automation of close-range photogrammetry.
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