Environmental research is an area where robotics platforms can be applied as solutions for different problems to help or automate certain tasks, with the purpose of being more efficient or also safer for the researche...
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Environmental research is an area where robotics platforms can be applied as solutions for different problems to help or automate certain tasks, with the purpose of being more efficient or also safer for the researchers involved. This paper presents the Kamanbare platform. Kamanbar6 is a bioinspired robotic platform, whose main goal is to climb trees for environmental research applications, applied in tasks such as gathering botanical specimen, insects, climatic and arboreal fauna studies, among others. Kamanbare is a platform that provides flexibility both in hardware and software, so that new applications may be developed and integrated without the need of extensive knowledge in robotics.
This article explains a SCADA System called SCADA Web developed by CARTIF Foundation. This SCADA System makes possible remote monitoring and control from the process controlled by PLC using Web Technology. SCADA Web h...
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ISBN:
(纸本)9789728865832
This article explains a SCADA System called SCADA Web developed by CARTIF Foundation. This SCADA System makes possible remote monitoring and control from the process controlled by PLC using Web Technology. SCADA Web has been developed on platform Java EE and provides visualization and control signals, trend charts, alarms, historical data and alarm reports.
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.
This paper presents the internet-based remote control of mobile robot. To face unpredictable Internet delays and possible connection rupture, a direct teleoperation architecture with "Speed Limit Module" (SL...
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ISBN:
(纸本)9789728865832
This paper presents the internet-based remote control of mobile robot. To face unpredictable Internet delays and possible connection rupture, a direct teleoperation architecture with "Speed Limit Module" (SLM) and "Delay Approximator" (DA) is proposed. This direct control architecture guarantees the path error of the robot motion is restricted within the path error tolerance of the application. Experimental results show the effectiveness and applicability of this direct internet control architecture in the real intemet environment.
This paper focuses on the motion control problem of an onmidirectional mobile robot. A new control method based on the inverse input-output linearized kinematic model is proposed. As the actuator saturation and actuat...
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ISBN:
(纸本)9789728865832
This paper focuses on the motion control problem of an onmidirectional mobile robot. A new control method based on the inverse input-output linearized kinematic model is proposed. As the actuator saturation and actuator dynamics have important impacts on the robot performance, this control law takes into account these two aspects and guarantees the stability of the closed-loop control system. Real-world experiments with an omnidirectional middle-size RoboCup robot verifies the performance of this proposed control algorithm.
This paper presents a fuzzy control algorithm for mobile robots which are moving next to the obstacle boundaries, avoiding the collisions with them. Four motion cycles (programs) depending on the proximity levels and ...
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ISBN:
(纸本)9789728865832
This paper presents a fuzzy control algorithm for mobile robots which are moving next to the obstacle boundaries, avoiding the collisions with them. Four motion cycles (programs) depending on the proximity levels and followed by the mobile robot on the trajectory (P1, P2, P3, and P4) are shown. The directions of the movements corresponding to every cycle, for every reached proximity level are presented. The sequence of the programs depending on the reached proximity levels is indicated. The motion control algorithm is presented by a flowchart showing the evolution of the functional cycles (programs). The fuzzy rules for evolution (transition) of the programs and for the motion on X-axis and Y-axis respectively are described. Finally, some simulations are presented.
This paper addresses discrete sliding mode control of nonlinear systems. The nonlinear system is identified as a Hammerstein model firstly to isolate the nonlinearity from the sliding surface design. An MPC law is emp...
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ISBN:
(纸本)9789728865849
This paper addresses discrete sliding mode control of nonlinear systems. The nonlinear system is identified as a Hammerstein model firstly to isolate the nonlinearity from the sliding surface design. An MPC law is employed to design the sliding surface. Then Utkins method of equivalent control is used. The method illustrates the effect of the nonlinearity on reaching control. The ball and beam system is adopted as an example. Simulation and on-line results are provided.
A model-based control approach for a surgical parallel robot is presented, which combines a local tool stabilization with a global disturbance feed forward control. The robot is held in the operator's hand during ...
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ISBN:
(纸本)9789728865832
A model-based control approach for a surgical parallel robot is presented, which combines a local tool stabilization with a global disturbance feed forward control. The robot is held in the operator's hand during the manipulation of bones. For a precise processing the tool has to be decoupled from disturbances due to unintentional hand movements of the surgeon at the robot base. The base disturbances are transformed for a feed forward control using the inverse dynamics of the robot. Simulations show that disturbances can be reduced by many orders depending on sensor errors and delay.
Recently, robotics has found a new field of research in surgery in which it is used as an assistant of the surgeon in order to promote less traumatic surgery and minimal incision of soft tissue. In accordance with the...
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ISBN:
(纸本)9789728865832
Recently, robotics has found a new field of research in surgery in which it is used as an assistant of the surgeon in order to promote less traumatic surgery and minimal incision of soft tissue. In accordance with the requirements of dental surgeons, we offer a robotic system dedicated to dental implants. A dental implant is a mechanical device fixed into the patient's jaw. It is used to replace a single tooth or a set of missing teeth. Fitting the implant is a difficult operation that requires great accuracy. This work concerns the prototype of a medical robot. Forward and inverse kinematics as dynamics are considered in order to drive a control algorithm which is as accurate and safe as possible.
The task of achieving a dead-beat control by a linear DB controller under control constraints is presented in this paper. Two algorithms using the concept of multiple-model systems are proposed and demonstrated - a mu...
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ISBN:
(纸本)9789728865849
The task of achieving a dead-beat control by a linear DB controller under control constraints is presented in this paper. Two algorithms using the concept of multiple-model systems are proposed and demonstrated - a multiple-model dead-beat (MMDB) controller with varying order using one sampling period and a MMDB controller with fixed order using several sampling periods. The advantages and disadvantages of these controllers are summarized.
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