Currently dominated by manual methods, the automation of structural steel welding is crucial, particularly given the skilled welder shortage. Against this backdrop, we introduced a new point-cloud-based automated weld...
The paper is devoted to the behaviour of fractional variable-order system with two agents. Interactions between agents are defined like in Cucker-Smale model but the memory is included by using the Grünwald-Letni...
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The paper is devoted to the behaviour of fractional variable-order system with two agents. Interactions between agents are defined like in Cucker-Smale model but the memory is included by using the Grünwald-Letnikov fractional variable-order operator in the equation describing the velocity of agents. The condition for achieving a consensus for the considered model is formulated and the behaviour of the system is supported by numerical analysis.
In this paper the time optimal sliding mode controller for the second order systems with uncertainties is introduced. A time-varying sliding line is proposed, in order to eliminate the influence of perturbations for t...
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In this paper the time optimal sliding mode controller for the second order systems with uncertainties is introduced. A time-varying sliding line is proposed, in order to eliminate the influence of perturbations for the whole regulation process. Moreover, it is selected to ensure the finite-time convergence of the regulation error to zero. The regulation time is minimized with respect to the control signal and velocity constraints.
A new method for vehicle classification is presented. An axle parameter estimation gives advanced results for the distances between axles as well as transferred energy of vibrations. Measured road vibrations are analy...
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A new method for vehicle classification is presented. An axle parameter estimation gives advanced results for the distances between axles as well as transferred energy of vibrations. Measured road vibrations are analyzed and the phenomena are studied. Algorithms for vehicle classification based on the findings are described and their performance, advantages and disadvantages are evaluated and discussed. Correct classification of vehicles by wheelbases using accelerometers is about 89 %.
A tensegrity-based system is a promising approach for dynamic exploration of uneven, unpredictable, and confined environments. However, implementing such systems presents challenges in state recognition. In this study...
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A tensegrity-based system is a promising approach for dynamic exploration of uneven, unpredictable, and confined environments. However, implementing such systems presents challenges in state recognition. In this study, we introduce a 6-strut tensegrity structure integrated with 24 multimodal strain sensors, employing a deep learning model to achieve smart tensegrity. By using conductive flexible tendons and leveraging a long short-term memory (LSTM) model, the system accomplishes self-shape reconstruction without the need for external sensors. The sensors operate in two modes, and we applied both a curve fitting model and an LSTM model to establish the relationship between length change and resistance change in the sensors. Our key findings demonstrate that the intelligent tensegrity system can accurately self-detect and adapt its shape. Furthermore, a human pressing process allows users to monitor and understand the tensegrity's shape changes based on the integrated models. This intelligent tensegrity-based system with self-sensing tendons showcases significant potential for future exploration, making it a versatile tool for real-world applications.
The proceedings contain 148 papers. The topics discussed include: optimal scheduling of an on-demand fixture manufacturing cell for mass customisation production systems - model formulation, presentation and validatio...
ISBN:
(纸本)9789897582639
The proceedings contain 148 papers. The topics discussed include: optimal scheduling of an on-demand fixture manufacturing cell for mass customisation production systems - model formulation, presentation and validation;control architecture modeling using functional energetic method - demonstration on a hybrid electric vehicle;evolutionary type-2 fuzzy blood gas models for artificially ventilated patients in ICU;dynamic programming resolution and database knowledge for online predictive energy management of hybrid vehicles;tracking solutions for mobile robots: evaluating positional tracking using dual-axis rotating laser sweeps;optimal 3d kinematic analysis for human lower limb rehabilitation;fuzzy logic control for varied inspection for manufacturing lead time reduction - a fuzzy control implementation of a dynamic inspection technique to reduce manufacturing lead time;new SLICOT routines for standard and descriptor systems;experiments and analysis for fractional order modelling of an EEG recording process;a sliding-mode controller from a reduced system model: ball and plate system experimental application;fault estimation using a Takagi-Sugeno interval observer: application to a PEM fuel cell;an adaptive underfloor heating control with external temperature compensation;simulation model of a SiC power MOSFET - variables estimation and control of a power source;research on the mission critical parameters identification by using kinematic boundaries;and a novel strategy for adjusting current pulse amplitude of FES-systems with PID based on PSO algorithm method to control the muscle force.
In this paper we examine the selection of feature points for visual servoing methods using multiresolution critical-point filters (CPF). With the increased number of feature points made available to us using CPF, we h...
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In this paper we examine the selection of feature points for visual servoing methods using multiresolution critical-point filters (CPF). With the increased number of feature points made available to us using CPF, we hope to improve the robustness of the system by allowing the algorithm to automatically detect usable feature points on virtually any object without any a priori knowledge of the object. Furthermore, the algorithm will revise these points at each iteration to account for events that may have otherwise caused feature points to be lost and led to the visual servo method ending in failure.
Point clouds are the most popular representation of 3D vision tasks and have a wide range of applications in the field of smart robots today. The disordered and unstructured nature of 3D points makes it more difficult...
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The proceedings contain 148 papers. The topics discussed include: optimal scheduling of an on-demand fixture manufacturing cell for mass customisation production systems - model formulation, presentation and validatio...
ISBN:
(纸本)9789897582646
The proceedings contain 148 papers. The topics discussed include: optimal scheduling of an on-demand fixture manufacturing cell for mass customisation production systems - model formulation, presentation and validation;control architecture modeling using functional energetic method - demonstration on a hybrid electric vehicle;evolutionary type-2 fuzzy blood gas models for artificially ventilated patients in ICU;dynamic programming resolution and database knowledge for online predictive energy management of hybrid vehicles;tracking solutions for mobile robots: evaluating positional tracking using dual-axis rotating laser sweeps;optimal 3d kinematic analysis for human lower limb rehabilitation;fuzzy logic control for varied inspection for manufacturing lead time reduction - a fuzzy control implementation of a dynamic inspection technique to reduce manufacturing lead time;new SLICOT routines for standard and descriptor systems;experiments and analysis for fractional order modelling of an EEG recording process;a sliding-mode controller from a reduced system model: ball and plate system experimental application;fault estimation using a Takagi-Sugeno interval observer: application to a PEM fuel cell;an adaptive underfloor heating control with external temperature compensation;simulation model of a SiC power MOSFET - variables estimation and control of a power source;research on the mission critical parameters identification by using kinematic boundaries;and a novel strategy for adjusting current pulse amplitude of FES-systems with PID based on PSO algorithm method to control the muscle force.
Space robotics is a relatively new field of science and engineering that was developed as an answer to growing needs created by space exploration and space missions. New technologies had to be invented and designed in...
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Space robotics is a relatively new field of science and engineering that was developed as an answer to growing needs created by space exploration and space missions. New technologies had to be invented and designed in order to meet demands in extremely hostile environments. Those technologies have to work in a gravityless environment, rarefied atmosphere and often in high temperature. This paper recalls some of the major robotics missions in space and explains technologies related to them. Space robotic manipulators, especially flexible link and flexible joint robots are discussed. Autonomous robots for unmanned, long duration mission are presented.
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