Small production companies frequently have only limited amount of customers, especially in country sides. To have more orders and to be more competitive, they need to cooperate and form Industrial Clusters. To manage ...
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ISBN:
(纸本)9789898565211
Small production companies frequently have only limited amount of customers, especially in country sides. To have more orders and to be more competitive, they need to cooperate and form Industrial Clusters. To manage Industrial Cluster, there should be firm Quality Management System. The current article proposes approach about handling that complicity, which is related to the Industrial Cluster Management.
This paper presents the design of 3-Dof multi-link robot arm that is mounted on the multirotor. To be considered the dynamic characteristics of the manipulation platform, the decoupled dynamic models of the system are...
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ISBN:
(纸本)9789897584428
This paper presents the design of 3-Dof multi-link robot arm that is mounted on the multirotor. To be considered the dynamic characteristics of the manipulation platform, the decoupled dynamic models of the system are derived. The main advantage of the first joint is introduced for more robustness and stability during hovering. The PID controller will be implemented for position and attitude of multirotor control, whereas, a sliding mode controller will be designed for a manipulator robot, which is then compared with the sliding surface that has been integrated with the proportional-derivative (PD) controller. The performance of the proposed technique is demonstrated through a simulation using Simulink and Matlab environment.
This paper aims at applying optimal control to investigate different vaccination strategies against the epidemic spread of viral diseases. Background of the study is the situation in the first half of 2021, when many ...
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ISBN:
(纸本)9789897585227
This paper aims at applying optimal control to investigate different vaccination strategies against the epidemic spread of viral diseases. Background of the study is the situation in the first half of 2021, when many countries started their vaccination procedures against the COVID-19 disease, but suffered from shortages of vaccines, such that the efficient distribution of the available amount of vaccine turned out to be crucial to mitigate the pandemic. The paper first suggests an extended version of a known model of virus spread in order include the vaccination process. Based on this model, the formulation and solution of optimization problems is used to determine how available vaccine should be distributed over different age-groups of the population to minimize virus spread. Effectiveness of the obtained strategies compared to standard ones is demonstrated in simulations.
A design of an underactuated electromechanical gripper with force control algorithm is presented in this paper. The key feature of the gripper is the ability to grasp fragile objects and objects of a complex shape. Su...
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ISBN:
(纸本)9789897583803
A design of an underactuated electromechanical gripper with force control algorithm is presented in this paper. The key feature of the gripper is the ability to grasp fragile objects and objects of a complex shape. Such advantages are due to the usage of elastic joints and force sensitive resistors embedded in modules of gripper's fingers. Also low cost and mass of the presented device makes its application rational for a larger number of robotic systems. Proposed force control system is based on PI control and passification approaches that provide tuning simplicity and good performance in the case of unknown environments. Experimental results show the efficiency of proposed solution.
This paper argues for a new approach in the mechanical design principle for the humanoid walkers. Applying linear electric direct drive motors the biped mechanism is able to behave as dynamically highly reactive walke...
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ISBN:
(纸本)9789898565211
This paper argues for a new approach in the mechanical design principle for the humanoid walkers. Applying linear electric direct drive motors the biped mechanism is able to behave as dynamically highly reactive walker admissible to exploiting its own natural dynamics. Based on this, a whole new concept of an anthropomorphic walker prototype is described including the interaction of the design and algorithmic aspects of the motion control.
In this paper, a real-time setup and an implementation of a Proportional Derivative (PD) controller for orientation and comparison between PD and BackStepping (BS) controllers for linear positioning are presented usin...
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ISBN:
(纸本)9789897583049
In this paper, a real-time setup and an implementation of a Proportional Derivative (PD) controller for orientation and comparison between PD and BackStepping (BS) controllers for linear positioning are presented using a Pelican quadrotor from Ascending Technologies (AscTec). An onboard Inertial Measurement Unit (IMU) was used for orientation control and Optitrack Vision Tracking System for linear positioning control. A linear Kalman filter was implemented for linear velocity estimation. The software and hardware integration was achieved with the help of the Robot Operating System (ROS). Simulations and experiments with this drone platform are achieved in order to implement different controller algorithms and analyse them in order to achieve better aircraft performance.
This paper presents the design and modelling of a new Aerial manipulating system, that resolve a displacement of centre of gravity of the whole system with a mechanical device. A prismatic joint between the multirotor...
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ISBN:
(纸本)9789897583803
This paper presents the design and modelling of a new Aerial manipulating system, that resolve a displacement of centre of gravity of the whole system with a mechanical device. A prismatic joint between the multirotor and a robotic arm is introduced to make a centre of mass as close as to the geometric centre of the whole system. This paper details also the geometric and dynamic modelling of a coupled system with a Lagrange formalism and control law with a Closed Loop Inverse Kinematic Algorithm (CLIKA). This dynamic inverse control is validated in a Simulink environment showing the efficiency of our approach.
Most often, the normal distribution N plays the key role in the process modelling and parameter estimation. The paper deals with realistic estimation of model parameters which takes into account limitations on paramet...
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ISBN:
(纸本)9789897583049
Most often, the normal distribution N plays the key role in the process modelling and parameter estimation. The paper deals with realistic estimation of model parameters which takes into account limitations on parameters which arise in industrial applications of the model-based adaptive control. Here the limitation of a normally distributed random variable is being modelled by specific distribution - the probabilistic mixture D. It is shown that relationship between distributions N and D coincides with properties of the generalized normal distribution G and that relations between their first and second statistical moments can be adequately approximated by G's cumulative distribution function and probability density function, respectively. The derived method is then applied to estimation of bounded parameters. In combination with the idea of parallel identification of the full and reduced models of the process, a working algorithm is derived. Performance of the algorithm is illustrated by examples on both simulated and real data.
Autonomous navigation in unstructured environments is a challenging task for which behavior-based control systems proved to be suitable due to their inherent robustness against unforeseen situations. But especially th...
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ISBN:
(纸本)9789897583049
Autonomous navigation in unstructured environments is a challenging task for which behavior-based control systems proved to be suitable due to their inherent robustness against unforeseen situations. But especially the robust perception is still an unsolved problem leading to severe system failures. This paper faces the perception problem by introducing a new data quality-based perception module based on the integrated Behavior-Based control (iB2C) architecture. Therefore, a new concept of data quality in behavior-based systems and methods for quality-based data fusion are developed while taking advantage of the modularity, extensibility and traceability of the existing architecture. To demonstrate its capabilities, a perception network for robot localization is derived and its outcomes are compared to an state of the art localization filter in simulation and in a real world scenario as well.
In the passive tele-rehabilitation process, the safety is the most important thing for patients avoiding the secondary damage of the impaired upper limb. Aiming at adjusting the appropriated contact force in time duri...
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ISBN:
(纸本)9789897584428
In the passive tele-rehabilitation process, the safety is the most important thing for patients avoiding the secondary damage of the impaired upper limb. Aiming at adjusting the appropriated contact force in time during the training exercises, an adaptive impedance control is proposed for the slave side. At the same time, the trajectory control based on the Hamilton-Jacobi-Inequality theory and the RBF Neural network is performed for the master manipulator operated by therapists. The stability is analyzed and numerical simulations show the efficiencies and high performances of the proposed method.
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