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 paper is aimed to the robust control of parametric uncertain linear plants in conditions of signal quantization with time delay and bounded external perturbations. State vector of control plant is unmeasured. Outp...
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ISBN:
(纸本)9789897581984
The paper is aimed to the robust control of parametric uncertain linear plants in conditions of signal quantization with time delay and bounded external perturbations. State vector of control plant is unmeasured. Output of control plant is measured only via quantizer with transport delay. control algorithm is based on consecutive compensator method. Proposed algorithm provides convergence of tracking error to the reference signal with prespecified accuracy for bounded time delay in quantizer. Limitations on value of delay providing stability of closed-loop system are obtained.
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.
Our proposal is aimed at achieving reliable task allocation in physical multi-agent systems by means of introspection on their dynamics. This new approach is beneficial as it improves the way agents can coordinate wit...
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Our proposal is aimed at achieving reliable task allocation in physical multi-agent systems by means of introspection on their dynamics. This new approach is beneficial as it improves the way agents can coordinate with each other to perform the proposed tasks in a real cooperative environment. Introspection aims at including reliable physical knowledge of the controlled systems in the agents' decision-making. To that end, introspection on control-grounded capabilities, inspired by the agent metaphor, are used in the task utility/cost functions. Such control-grounded capabilities guarantee an appropriate agent-oriented representation of the specifications and other relevant details encapsulated in every automatic controller of the controlled systems. In particular, this proposal is demonstrated in the successful performing of tasks by cooperative mobile robots in a simulated robot soccer environment. Experimental results and conclusions are shown, stressing the relevance of this new approach in the sure and trustworthy attainment of allocated tasks for improving multi-agent performance.
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.
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.
In this paper, a novel controller is proposed and applied for high accuracy tracking trajectory in the workspace of robot manipulators in presence of uncertainties and external disturbances. Most of nonlinear controll...
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ISBN:
(纸本)9789897581984
In this paper, a novel controller is proposed and applied for high accuracy tracking trajectory in the workspace of robot manipulators in presence of uncertainties and external disturbances. Most of nonlinear controllers are based on the mathematical model of robot manipulator, but a lot of robotic systems do not have exact model. This novel approach which consists on designing an Integral Backstepping with Time Delay control (IBTDC) can estimate uncertainties and keep high tracking performance. The proposed controller is able to stabilize the robot system, and also to drive the trajectory tracking errors to converge in finite time. Furthermore, experimental results are given to illustrate the effectiveness of the proposed method applied to the 7-DOF ANAT robot arm.
This paper presents an original performance analysis applied to a flow-shop system driven by a set of local command units and a central controller. The performance evaluation is done with a timed coloured Petri net mo...
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ISBN:
(纸本)9728865600
This paper presents an original performance analysis applied to a flow-shop system driven by a set of local command units and a central controller. The performance evaluation is done with a timed coloured Petri net model. Simulation results show needs for bounding the controller response time in order to meet production targets.
Distributed system for control over the crystal growth process is presented. The main advantages of the system are its low cost, ability to recover after power failure, an application of standard ISaGRAF software envi...
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