Single-sided air-coupled ultrasonic inspection has some beneficial properties compared to water-coupled ultrasonic inspection or double-sided ultrasonic testing. The absence of the need for water leads to easier proce...
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ISBN:
(纸本)9789897583803
Single-sided air-coupled ultrasonic inspection has some beneficial properties compared to water-coupled ultrasonic inspection or double-sided ultrasonic testing. The absence of the need for water leads to easier process handling on the one hand e.g. when manufacturing aircraft components. On the other hand, because the process is single-sided, reachability is a minor problem compared to double-sided testing and end-effectors and fixtures can be designed in a less complex and more compact way. However, the nature of lamb waves requires that the geometrical relation of the transmitter and the receiver varies during the inspection process. In this paper, a prototype of an adaptive end-effector is introduced that was developed to implement this requirement and results of first evaluation tests are presented.
In tasks of human supervision in industrial control room they are applied generic disciplines as the software engineering for the design of the computing interface and the human factors for the design of the control r...
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ISBN:
(纸本)9789728865832
In tasks of human supervision in industrial control room they are applied generic disciplines as the software engineering for the design of the computing interface and the human factors for the design of the control room layout. From the point of view of the human computer interaction, to these disciplines it is necessary to add the usability engineering and the cognitive ergonomics since they contribute rules for the user centered design. The main goal of this work is the application of a human factors guideline for supervisory control interface design in order to improve the efficiency of the human machine systems in automation. This communication presents the work developed to improve the Sports Service Area interface of the Universitat Autonoma de Barcelona.
This paper presents a contribution in multivariable predictive control. A new approach of multi-model based control is presented. The controller used is the quasilinear multivariable generalized predictive control (QM...
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This paper presents a contribution in multivariable predictive control. A new approach of multi-model based control is presented. The controller used is the quasilinear multivariable generalized predictive control (QMGPC). A metric based in 2-norm is presented in order to build a global model using local models. Simulation results in a distillation column, with a comparative analysis, are presented.
Accurate odometry and navigation may well be the most important tasks of a mobile robot's control system. To solve this task it is necessary to utilize proper sensors which provide reliable information about the m...
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ISBN:
(纸本)9789728865832
Accurate odometry and navigation may well be the most important tasks of a mobile robot's control system. To solve this task it is necessary to utilize proper sensors which provide reliable information about the motion. This paper presents the prototype of an optical navigation sensor which can be an alternative choice for the dead reckoning navigation system of a vehicle or mobile robot. The last part of the paper presents another application in an inertial navigation system that enables a new approach to map making which incorporates vehicle dynamics into the world map.
Different approaches have been briefly overviewed which have been used in stability of biped robots. Current implementations either mimic human behavior or use heuristic control. This paper suggests the use of model-f...
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ISBN:
(纸本)9789728865825
Different approaches have been briefly overviewed which have been used in stability of biped robots. Current implementations either mimic human behavior or use heuristic control. This paper suggests the use of model-free crisp control in operational space configuration for better control and understanding of kino-dynamic systems and biped robots.
In this article, we are interested in the reactive behaviours navigation training of a mobile robot in an unknown environment. The method we will suggest ensures navigation in unknown environments with presence off di...
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ISBN:
(纸本)9789728865825
In this article, we are interested in the reactive behaviours navigation training of a mobile robot in an unknown environment. The method we will suggest ensures navigation in unknown environments with presence off different obstacles shape and consists in bringing the robot in a goal position, avoiding obstacles and releasing it from the tight corners and deadlock obstacles shape. In this framework, we use the reinforcement learning algorithm called Fuzzy Actor-Critic learning, based on temporal difference prediction method. The application was tested in our experimental PIONEER II platform.
This paper presents a methodology for designing a fault-tolerant control (FTC) system for linear parameter varying (LPV) systems subject to actuator saturation fault. The FTC system is designed using linear matrix ine...
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ISBN:
(纸本)9789728865825
This paper presents a methodology for designing a fault-tolerant control (FTC) system for linear parameter varying (LPV) systems subject to actuator saturation fault. The FTC system is designed using linear matrix inequality (LMI) and model estimation techniques. The FTC system consists of a nominal control, fault diagnostic, and fault accommodation schemes. These schemes are designed to achieve stability and tracking requirements, estimate a fault, and reduce the fault effect on the system. Simulation studies are used to illustrate the proposed design.
The paper addresses two inherently connected problems, namely: windup phenomenon and directional change in controls problem for multivariable systems. By comparing two ways of performing anti-windup compensation and t...
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ISBN:
(纸本)9789728865849
The paper addresses two inherently connected problems, namely: windup phenomenon and directional change in controls problem for multivariable systems. By comparing two ways of performing anti-windup compensation and two different saturation modes a new definition of windup phenomenon for multivariable systems has been obtained, changing definitions present in the literature. It has been shown that avoiding directional change does not have necessarily to mean that windup phenomenon has been avoided too.
A collision avoidance path planning problem is considered and a simple solution which uses piecewise constant controls generated by discretizing a feasible equilibrium path is presented and investigated.
ISBN:
(纸本)9789898111326
A collision avoidance path planning problem is considered and a simple solution which uses piecewise constant controls generated by discretizing a feasible equilibrium path is presented and investigated.
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