The thermal spraying industry has a global market of $1.3 billion. This industry relies heavily on manual operation of the thermal spraying equipment or in some cases, robotic systems that require costly set up of mat...
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ISBN:
(纸本)9789728865832
The thermal spraying industry has a global market of $1.3 billion. This industry relies heavily on manual operation of the thermal spraying equipment or in some cases, robotic systems that require costly set up of material for surface coating and time consuming trajectory planning. The main objective of this research was to investigate novel ideas for automating the thermal spraying process. This requires transducers that can provide information about arbitrarily shaped and orientated material for spraying and generating the trajectory plan for the robot manipulator during the thermal spraying process in real time. The most significant difficulty for any transducer, particularly low cost vision systems is the thermal spraying process which in our research is molten material such as aluminium in an Oxy-Acetylene flame with temperatures exceeding 3100 degrees C. This paper outlines the concept and based on the experimental results presented demonstrates combined optical and image processing techniques for obtaining information about objects behind a butane flame.
The customized development of the Distributed control System for process control in an environment of intelligent and tagged field devices etc., is the main focus of this work. The proposed solution consists of two-la...
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ISBN:
(纸本)9789898111326
The customized development of the Distributed control System for process control in an environment of intelligent and tagged field devices etc., is the main focus of this work. The proposed solution consists of two-layer approach: use of decentralized intelligent agents at the local process level, and four-tier modular architecture at central controller level to help implement distributed intelligence. The design and development issues for such a customized design are investigated.
The article deals with a problem of output control for linear systems under unknown mismatched disturbances. This algorithm is based on the modified backstepping method and the auxiliary loop method. The proposed cont...
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ISBN:
(纸本)9789897583803
The article deals with a problem of output control for linear systems under unknown mismatched disturbances. This algorithm is based on the modified backstepping method and the auxiliary loop method. The proposed control scheme is a robust approach intended to unknown mismatched disturbances estimation and compensation. Efficiency of the method is verified by computer modelling and practical approbation of the algorithm using a laboratory platform called "Twin Rotor MIMO System".
Flexibility, throughput, maintainability, scalability, reliability and low cost: That are the main optimization criteria of material flow systems (MFS). The most of this criteria are diametrical and so hardly to impro...
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ISBN:
(纸本)9789896740009
Flexibility, throughput, maintainability, scalability, reliability and low cost: That are the main optimization criteria of material flow systems (MFS). The most of this criteria are diametrical and so hardly to improve considerably with today's existing transportation devices and their static control structures. Hence a new approach of a transportation systems with cooperating robotic units and a novel cognitive environment will be presented. This approach will combine different research areas like robotics and wireless sensor networks to achieve a higher degree of flexibility.
Small sized robotic systems have operational advantages compared to large systems. They can also operate in fields of application where bigger systems would fail. This paper describes the specifications and the design...
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ISBN:
(纸本)9789897581984
Small sized robotic systems have operational advantages compared to large systems. They can also operate in fields of application where bigger systems would fail. This paper describes the specifications and the design of the autonomous underwater vehicle mu AUV(2). Technical details of the system regarding sensor setup, motorization and computing power are given. Furthermore, we present details about the system identification process and the implemented controller structure. Possible scopes of the mu AUV(2) are underwater exploration, inspection tasks, development and evaluation of algorithms, education and competitions.
This paper relates to the problem of a path following task for a wheeled mobile platform of (2,0) type. Two kinematic control algorithms, Micaelli-Samson algorithm and Soetanto-Lapierre-Pascoal algorithm, which are ba...
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ISBN:
(纸本)9789898565716
This paper relates to the problem of a path following task for a wheeled mobile platform of (2,0) type. Two kinematic control algorithms, Micaelli-Samson algorithm and Soetanto-Lapierre-Pascoal algorithm, which are based on either the Serret-Frenet frame with an orthogonal projection or the Serret-Frenet frame with a nonorthogonal projection of a robot on the desired path, were presented. The additional condition that should be imposed on the function δ, which is a parameter depending on a linear velocity of the robot and on a distance error, was described. The influence of the function δ on the convergence of the non-singular algorithm has been shown using computer simulations.
This paper proposes an online type control parameter tuning method for a predictive PI controller. Predictive PI controller is based on a PI controller with a Smith predictor, and it is effective for a controlled obje...
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ISBN:
(纸本)9789897583803
This paper proposes an online type control parameter tuning method for a predictive PI controller. Predictive PI controller is based on a PI controller with a Smith predictor, and it is effective for a controlled object with large dead-time. control performance of the predictive PI controller strongly depends on control parameters. Recently, some data-driven controller tuning methods have been proposed. The methods directly calculate suitable parameters from one or some sets of operating data. In addition, almost controlled processes are time-variant. In this paper, a data-driven self-tuning predictive PI controller is proposed. The effectiveness of the proposed scheme is evaluated by a simulation example.
The paper considers a problem of deviations (peak effect) in the free motion of linear discrete stable systems with a control signal delay. The problem consists in structure of eigenvectors of the state matrix. The co...
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ISBN:
(纸本)9789897583803
The paper considers a problem of deviations (peak effect) in the free motion of linear discrete stable systems with a control signal delay. The problem consists in structure of eigenvectors of the state matrix. The control signal delay adds additional order to a discrete-time model and leads to the variation of eigenvectors structure and deviation increasing in the free motion of the system. A tracking discrete-time system is a subject of the research. An approach to the modal control law design taking into account the value of delay and the deviation is suggested in the paper. It is proposed to assess the upper bound of peaking processes in the system with the condition number of an eigenvectors matrix. The results are supported by an example.
This paper deals with the robust stabilization of a car-like mobile robot given in a perturbed chained form. A higher order sliding mode control strategy is developed. This control strategy switches between two differ...
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This paper deals with the robust stabilization of a car-like mobile robot given in a perturbed chained form. A higher order sliding mode control strategy is developed. This control strategy switches between two different sliding mode controls: a second order one (super-twisting algorithm) and a new third order sliding mode control that performs a finite time stabilization. The proposed third sliding mode controller is based on geometric homogeneity property with a discontinuous term. Simulation results show the control performance.
New anti-windup scheme is presented in application to pole-placement control, with a complete analysis of its behaviour for a class of second-order minimumphase stable plants of oscillatory and aperiodic characteristi...
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ISBN:
(纸本)9789896740016
New anti-windup scheme is presented in application to pole-placement control, with a complete analysis of its behaviour for a class of second-order minimumphase stable plants of oscillatory and aperiodic characteristics with different dead-times. The classical generalised conditioning technique anti-windup compensator performance is compared with its three proposed modifications, arising in a new GCT compensation scheme. A critical discussion of the necessity of compensation is also given.
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