Starting from the fact that the Field Oriented control (FOC) control strategy of the Permanent Magnet Synchronous Motor (PMSM) gives good results in terms of the usual indicators of response time quality, overshoot, s...
详细信息
ISBN:
(纸本)9798350364309;9798350364293
Starting from the fact that the Field Oriented control (FOC) control strategy of the Permanent Magnet Synchronous Motor (PMSM) gives good results in terms of the usual indicators of response time quality, overshoot, steadystate error, but only in the usual operating range of the PMSM. The Maximum Torque Per Ampere (MTPA) control type strategy is utilised to limit current during operation while maintaining the required load torque, while the Field Weakening (FW) control type strategy is used to achieve speeds above the rated speed of the PMSM. These strategies are also complemented by the use of a Model Reference Adaptive System (MRAS) observer for PMSM rotor speed estimation and a Butterfly Optimization Algorithm (BOA) for achieving optimal values of the PI speed controller according parameters. The PMSM operating equations and the FOC, MTPA, and FW control strategies are also presented, together with the implementation structures in the Matlab/Simulink software programming environment. The features of these PMSM controlsystems in the corresponding operating regimes are presented through numerical simulations accomplished through Matlab/Simulink.
In this paper, by using the flux-controlled memristor model, the finite-time synchronization problem of delayed complex-valued memristive neural networks (MCNNs) is studied. Firstly, according to the proposed memristo...
详细信息
This paper presents an advanced control error processing to enable the feedback position control of an industrial robot based on external sensor signals for dual-stage actuation. A measurement module comprising a magn...
详细信息
ISBN:
(纸本)9798350355376;9798350355369
This paper presents an advanced control error processing to enable the feedback position control of an industrial robot based on external sensor signals for dual-stage actuation. A measurement module comprising a magnetically levitated platform with an integrated 3D measurement tool is mounted as end effector on the industrial robot. The industrial robot is used to maintain the measurement platform within its limited actuation range, while actively tracking a sample in motion. The measurement module provides the short stroke but precision positioning of the measurement tool relative to a sample surface in 6-DoF. For a feedback controlled repositioning of the industrial robot's tool center point based on the internal measurement platform's position signals, a real-time interface is used. The implementation of the advanced control error processing successfully demonstrates the active tracking of a sample in motion, with residual tracking errors of 473 nm rms in sample-motion direction.
This paper investigates the efficiency of autonomous indoor exploration utilizing simulation testing environments in Gazebo. Two exploration methods, Floodfill algorithm and Frontier-based algorithm, using the 2D LiDA...
详细信息
ISBN:
(纸本)9798331517939;9788993215380
This paper investigates the efficiency of autonomous indoor exploration utilizing simulation testing environments in Gazebo. Two exploration methods, Floodfill algorithm and Frontier-based algorithm, using the 2D LiDAR sensor are compared. The Floodfill algorithm employs a systematic traversal approach, while the Frontier-based method dynamically detects and navigates towards frontiers. Results indicate that the Frontier-based approach outperforms Floodfill Algorithm in terms of efficiency and map completeness, particularly in complex environments. The study underscores the importance of the Frontier-based strategy for autonomous indoor exploration and paves the way for enhanced robotic applications in diverse domains.
In cybersecurity, anomaly detection has one of the most important roles in discovering threats that are a menace to an organization's information security. This paper describes the implementation of an anomaly det...
详细信息
Measuring the distance between words has many applications in natural language processing. By using the conceptual distance using the thesaurus dictionary, it is possible to obtain a distance scale different from the ...
详细信息
ISBN:
(纸本)9781665499248
Measuring the distance between words has many applications in natural language processing. By using the conceptual distance using the thesaurus dictionary, it is possible to obtain a distance scale different from the word similarity using the cosine similarity. However, the distance cannot be measured except for the words listed in the thesaurus dictionary. To solve the problem, this study aims to estimate the conceptual distance between unknown words using machine learning. Through some experiments, the conceptual distance of an unknown word could be estimated with the same level of accuracy as that of a known word.
This paper focuses on developing a simulation platform that enhances Human-Robot Interaction through intuitive and safe interchanges between human operators and a UR5e robot by operating a Digital Twin via Mixed Reali...
详细信息
ISBN:
(纸本)9798350364309;9798350364293
This paper focuses on developing a simulation platform that enhances Human-Robot Interaction through intuitive and safe interchanges between human operators and a UR5e robot by operating a Digital Twin via Mixed Reality. Using the ROS Noetic framework and Unity software for development, in conjunction with Microsoft HoloLens 2, this work presents a system based on Mixed Reality designed for collaborative robotic experiences. Moreover, a key innovation in this research is integrating a ZED camera for real-time human tracking, which enables the simultaneous simulation of humans and robots within a shared mixed environment. This advancement builds upon an existing digital twin of the robot. However, it also significantly enriches the system's capabilities for ensuring safety and facilitating intuitive interactions, validating the implemented methodology through simulation and real-life experimental results. The paper examines the implications of this development in different industrial and research contexts. It highlights the growing significance of mixed-reality technologies in creating complex human-robot interaction systems that ensure safety and efficiency.
Cloud computing has expanded substantially since 2006. By 2011, cloud computing was the top technical goal for organizations worldwide, and industry studies forecast the market would reach ∃441 billion by 2024. Cloud ...
详细信息
With the rapid proliferation of IoT and smart devices, optimizing resource management in edge computing environments is critical to ensuring efficient computational performance and minimal latency. This study proposes...
详细信息
During vitreoretinal surgery, surgeons are required to precisely manipulate surgical tools within a confined workspace of an eye, which is roughly 2.5 cm spherical in shape. Because the surgical view can only be obtai...
详细信息
ISBN:
(纸本)9798350377712;9798350377705
During vitreoretinal surgery, surgeons are required to precisely manipulate surgical tools within a confined workspace of an eye, which is roughly 2.5 cm spherical in shape. Because the surgical view can only be obtained by a microscope placed above the eyeball through the pupil, the eyeball needs to be moved or rotated during the operation to see a larger portion of the retina. At this point, general Remote Center of Motion (RCM) mechanisms require additional actuators or manual modification. On the other hand, a programmable RCM mechanism can reduce surgery time without a physical alignment procedure. This study introduces a novel six-degree-of-freedom (DoF) programmable RCM mechanism capable of generating the RCM at random positions in 3D space. Our approach combines two planar 5-bar linkage mechanisms placed in parallel, creating a double-layered configuration to establish the programmable RCM mechanism. We optimized the workspace of each planar mechanism to a customized workspace for a general eyeball model using genetic algorithms, focusing on maximizing the manipulability of the target workspace. The Phantom Omni device was utilized as a remote controller to remotely control the proposed mechanism in a transparent eyeball model with a diameter of 4 cm. Evaluation of the functionality of the programmable RCM mechanism at various RCM points showed that the overall error was less than 1 millimeter. The repeatability of the mechanism was tested and showed an accuracy of about 127 micrometers.
暂无评论