This paper presents distributed embedded monitoring system that is developed for small aircrafts, sports and ultralights airplanes. System is made from modules connected by industrial bus CAN. This low cost system is ...
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This paper presents distributed embedded monitoring system that is developed for small aircrafts, sports and ultralights airplanes. System is made from modules connected by industrial bus CAN. This low cost system is trying to solve bad situation with many ultralights without any digital measurement unit due to their prices. The contribution shows basic architecture of the embedded monitoring system and presents some parts of hardware and software implementation. The interface between aviator and airplane is established using graphic user interface based on operating system uClinux.
Different improvements have been developed in regards to the stability and the control of two-by-two non linear systems of conservation laws, and in particular for the Saint-Venant equations and the control of flow an...
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Different improvements have been developed in regards to the stability and the control of two-by-two non linear systems of conservation laws, and in particular for the Saint-Venant equations and the control of flow and water level on irrigation channel. One stability result based on the Riemann coordinates is presented here and sufficient conditions are given to insure the Cauchy convergence. Another result still based on the Riemann approach is presented too, in the linear case, to improve the feedback control based on the Riemann invariants.
This paper proposes the kinematic resolution method of CoM(center of mass) Jacobian with embedded motions and the design method of posture/walking controller for humanoid robots. The kinematic resolution of CoM Jacobi...
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ISBN:
(纸本)9789728865832
This paper proposes the kinematic resolution method of CoM(center of mass) Jacobian with embedded motions and the design method of posture/walking controller for humanoid robots. The kinematic resolution of CoM Jacobian with embedded motions makes a humanoid robot balanced automatically during movement of all other limbs. Actually, it offers an ability of WBC(whole body coordination) to humanoid robot. Also, we prove that the proposed posture/walking controller brings the ISS(disturbance input-to-state stability) for the simplified bipedal walking robot model.
The phenomena of static and dry friction may lead to difficult problems during low speed motion (e.g. stick slip phenomenon). However, they can be used to obtain irreversible mechanical transmissions. The latter tend ...
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ISBN:
(纸本)9789728865832
The phenomena of static and dry friction may lead to difficult problems during low speed motion (e.g. stick slip phenomenon). However, they can be used to obtain irreversible mechanical transmissions. The latter tend to be very hard to model theoretically. In this paper, we propose a pragmatic approach to model irreversibility in robotic drive chains. The proposed methodology consists of using a state machine to describe the functional state of the transmission. After that, for each state we define the efficiency coefficient of the drive chain. This technique gives conclusive results during experimental validation and allows reproducing a reliable robot simulator. This simulator is set up for the purpose of position control of a medical positioning robot.
To perform many complex tasks, modem robots often require robust and stable force control. Linear, fixed-gain controllers can only provide adequate performance when they are tuned to specific task requirements, but if...
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ISBN:
(纸本)9789728865849
To perform many complex tasks, modem robots often require robust and stable force control. Linear, fixed-gain controllers can only provide adequate performance when they are tuned to specific task requirements, but if the environmental stiffness at the robot/task interface is unknown or varies significantly, performance is degraded. This paper describes the design of a robotic force controller that has a simple architecture yet is robust to bounded uncertainty in the environmental stiffness. Generic stability conditions for the controller are developed and a simple design methodology is formulated. The controller design is tested on an experimental robot, and is shown to perform favourably in the presence of large changes in environmental operating conditions.
The area of modelling and controlling intermodal terminal systems is relatively new. The paradigms of Discrete Event Systems for modelling and of Multi-Agent Systems (MAS) for distributed control seem promising. Many ...
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ISBN:
(纸本)9789728865825
The area of modelling and controlling intermodal terminal systems is relatively new. The paradigms of Discrete Event Systems for modelling and of Multi-Agent Systems (MAS) for distributed control seem promising. Many research attempts developed modelling and simulation tools but no standard exists. This paper presents a Discrete Event System model of the agents introduced to describe how a distributed control of the terminal activities can be achieved. The interactions between four classes of agents are detailed. The approach is useful to develop a simulation platform to test MAS efficiency in terminal management and to measure the performance of static or adapted control strategies.
This paper presents a framework for strategy formulation in multilevel multiple-agent control system architectures based on the Strategic Games Matrix (SGM), having game theory and control systems theory as basic conc...
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ISBN:
(纸本)9789728865849
This paper presents a framework for strategy formulation in multilevel multiple-agent control system architectures based on the Strategic Games Matrix (SGM), having game theory and control systems theory as basic concepts and models. New methodologies for analysis and for design of hierarchical control architectures with multiple intelligent autonomous agents, based on the SGM concept, are applied. Illustrative hierarchical control applications to system architectures analysis and synthesis based on the SGM are presented.
We propose in this paper, to introduce a method to validate logic controller programs adapted to the teaching of Discrete Event Systems. The use of real systems for teaching raises two problems. The first one concerns...
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ISBN:
(纸本)9789728865849
We propose in this paper, to introduce a method to validate logic controller programs adapted to the teaching of Discrete Event Systems. The use of real systems for teaching raises two problems. The first one concerns the security of human beings (students and teachers) and materials. The second problem is the necessity to be able to detect possible errors done by students and to bring an explanation. We propose a method to define a level of system abstraction, to validate the student's control by the mean of a validation filter placed between the plant and the controller. The specifications contained in the filter make it possible to detect errors and to generate an explanation automatically. We applied this method to an original project where it was proposed to 7 year-old children, to discover automation, by programming a tablets packaging system.
Redundant Advanced Driving Simulators (hexapods mounted on rails) present an extra capability to reproduce motion sensations. The exploitation of this capability is currently done by frequency separation methods witho...
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ISBN:
(纸本)9789728865832
Redundant Advanced Driving Simulators (hexapods mounted on rails) present an extra capability to reproduce motion sensations. The exploitation of this capability is currently done by frequency separation methods without taking into account the frequency overlapping between the hexapod and the rails. Within this bandwidth, these two degrees of freedom could be considered as equivalent. Our aim is to use this equivalence to improve the motion restitution. We offer two algorithms based on the hybrid systems framework which deal with the longitudinal mode. Their goal is to improve the restitution of motion sensations by reducing false cues (generated by actuators braking) and decreasing null cues (due to actuators blocking). Our algorithms include and treat all steps of motion cueing: motion tracking (restitution), braking before reaching the displacement limits, washout motion, and switching rules.
The paper proposes a novel approach for the geometrical model calibration of quasi-isotropic parallel kinematic mechanisms of the Orthoglide family. It is based on the observations of the manipulator leg parallelism d...
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ISBN:
(纸本)9789728865832
The paper proposes a novel approach for the geometrical model calibration of quasi-isotropic parallel kinematic mechanisms of the Orthoglide family. It is based on the observations of the manipulator leg parallelism during motions between the specific test postures and employs a low-cost measuring system composed of standard comparator indicators attached to the universal magnetic stands. They are sequentially used for measuring the deviation of the relevant leg location while the manipulator moves the TCP along the Cartesian axes. Using the measured differences, the developed algorithm estimates the joint offsets and the leg lengths that are treated as the most essential parameters. Validity of the proposed calibration technique is confirmed by the experimental results.
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