This paper describes the use of tele-robotic cranes in an international collaborative educational program. The program goal was to have a visiting foreign professor bring alternative teaching methods and experiences t...
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ISBN:
(纸本)9780889868625
This paper describes the use of tele-robotic cranes in an international collaborative educational program. The program goal was to have a visiting foreign professor bring alternative teaching methods and experiences to engineering graduate students at the Escuela T´ecnica Superior de Ingenieros Industriales in Madrid, Spain. In order to fully convey the alternative curriculum, the visiting faculty member needed to utilize his usual laboratory equipment, which consisted of various types of cranes. Because the cranes can be remotely operated from anywhere in the world via the Internet, they were well-suited for this international educational collaboration. The challenges of such a program, the use of the cranes, and results from student assignments are discussed.
Intelligent and refined production becomes the development direction of the aluminium electrolysis industry. Anode current signals (ACS) can reflect the local conditions of electrolytic cells, timely and accurately cl...
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In this work, an output tracking control problem is introduced for electro-pneumatic systems (ENS) modeled by interpreted Petri nets (IPN). In this framework, IPN models for the most common components in ENS are prese...
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ISBN:
(纸本)9783030319939;9783030319922
In this work, an output tracking control problem is introduced for electro-pneumatic systems (ENS) modeled by interpreted Petri nets (IPN). In this framework, IPN models for the most common components in ENS are present. Later, it is explained how to compute a plant model and an specification model as IPN's. The specification can allow to concurrently activate several actuators. Afterwards, an algorithm is introduced to compute the controller and the closed-loop system as IPN's. It is demonstrated that the proposed controller solves the tracking control problem, ensuring boundedness and deadlock-freeness of the closed-loop system. The resulting controller can be translated to a Ladder Diagram for its implementation with a provided algorithm. The introduced algorithms are illustrated through a case study. The aim of this work is to provide a control framework that is simple and convenient for practitioners in the field of ENS's, but at the same time is based on a formal model for analysis purposes.
In the paper we deal with control of spatially invariant systems described by parabolic partial differential equations with one temporal and one spatial variables. We propose an algorithm for design of deadbeat contro...
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In the paper we deal with control of spatially invariant systems described by parabolic partial differential equations with one temporal and one spatial variables. We propose an algorithm for design of deadbeat controllers. The algorithm is based on polynomial methods. It consists in solving a linear equation with bi-variate polynomials. Numerical example and simulations are included.
The reasoning process used by humans for fault diagnosis is very difficult to model due to the many factors used in developing a hypothesis. Some of these factors do not correspond to cognitive models. The diagnosis o...
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To restrain the error of inertial navigation system (INS), gravity-aided navigation system is introduced. The principle of gravity-aided navigation system is expatiated. By using Kalman Filter, error correcting of ine...
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A new variant of the genetic algorithm for finding the location and size of small holes in the domain described by the non-linear boundary value problem is considered. The expansion of the shape functional defined in ...
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A new variant of the genetic algorithm for finding the location and size of small holes in the domain described by the non-linear boundary value problem is considered. The expansion of the shape functional defined in non-linear domain is provided in order to determine the form of topological derivative. The value of topological derivative is used for computing the probability density applied later to generate location and size of holes by the genetic algorithm.
Manipulating deformable linear objects (DLOs) is much challengeable as the uncertainty resulting from oscillation of DLOs may cause failure in the operation. In this paper, we proposed a position-based control strateg...
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In this paper, we address the problem of how a robot can optimize parameters of combined interaction force/task space controllers under a success constraint in an active way. To enable the robot to explore its environ...
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In this paper we present a heuristic correlation based laser odometry method for vehicle pose estimation in unconstructed environment. The method uses two separate horizontal scanning laser range finders with the comb...
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ISBN:
(纸本)9780889868137
In this paper we present a heuristic correlation based laser odometry method for vehicle pose estimation in unconstructed environment. The method uses two separate horizontal scanning laser range finders with the combined field of view of nearly 360 degrees. The method is suitable for acquiring quite accurate translation and rotation estimates at slow velocities. This laser odometry method is designed for challenging environments, like forests, where there are no easily recognizable features. The presented method can be used iteratively to increase its accuracy.
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