The proposed approach to the adaptive motion control in the presence of LuGre-type friction consists in the compensation of all components containing the internal model variable by a robust control term, based on a sp...
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The proposed approach to the adaptive motion control in the presence of LuGre-type friction consists in the compensation of all components containing the internal model variable by a robust control term, based on a special “bounding function”. To minimize the chattering effect, this function is approximated by a linear-in-parameters model. The model is tuned on-line by the adaptive control, together with the remaining unknown parameters.
The MOBOT∗ project aims to develop assistive devices that support elderly patients with mobility disabilities during gait and sit-to-stand (STS) transfer. The device is supposed to help such patients to maintain an in...
Path planning is one of the main sectors of robotics that deals with path calculations from a starting point to a goal in a defined field. Physical algorithms that rely on artificial potential fields and fluid fields ...
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ISBN:
(纸本)9781665483773
Path planning is one of the main sectors of robotics that deals with path calculations from a starting point to a goal in a defined field. Physical algorithms that rely on artificial potential fields and fluid fields have been developed to solve the path planning task. The main problem for the former is the creation of local minima in the field which requires extra algorithms to solve with increased path cost and added inefficiencies, while for the latter, the problem is the computational cost. This paper proposes an enhanced computational-physical path planning algorithm based on fluid stream equations and mechanics - named the Stream Field Navigation (SFN) - with modifications on how the residuals are calculated to improve the computational efficiency by introducing the Directional Residuals. SFN also introduces the Stream Reversal approach to represent a navigation field with no local minima. A comparison between the SFN algorithm and the Artificial Potential Field method is carried out to show the fundamental differences between the two methods and the results include empirical comparisons between the execution times of multiple algorithms which show that the SFN algorithm is at least 75% faster than PRM while A* is the fastest approach.
The configuration design of in-pipe robot locomotion mechanism has a significant impact on its motion performance. By analyzing the operation principle of adapting mechanism, the basic four-bar linkage is chosen as ba...
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In this paper, the development of hidden Markov model with explicit state duration (Variable duration HMM) for face milling residual life distribution prognostics is presented. An HMM with explicit state duration is c...
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Modern machineries are becoming complex cyberphysical systems with increasingly intelligent support for process automation. For the dependability and performance, a combination of measures for fault avoidance, robust ...
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ISBN:
(纸本)9781509013142
Modern machineries are becoming complex cyberphysical systems with increasingly intelligent support for process automation. For the dependability and performance, a combination of measures for fault avoidance, robust architecture, and runtime anomaly handling is necessary. These in turn call for a formalization of knowledge across different system lifecycle stages and a provision of novel methods and tools for qualified system synthesis and effective risk management. This paper presents a model-based approach to qualified process automation for the operation and maintenance of production systems. The contribution is centered on the formalizations of a wide range of system concerns, and thereby a consolidation of the rationale behind the design of run-time process logic in BPMN2.0. In particular, the approach allows an integration of formal system descriptions, FTA and FEMA based anomaly analysis, and executable process models for effective anomaly detection and treatment. The approach adopts mature modeling methods and tools through EAST-ADL. In this paper, a prototype tool-chain with MetaEdit+ Domain-Specific Modeling (DSM) Workbench, HiP-HOPS Tool and Camunda BPM Platform is also presented.
At present, the diversity of internal parameters of flexible load clusters has become one of the important factors affecting the modeling effectiveness of the unified integrated model of flexible load clusters. Theref...
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This paper describes measurement methods of temperature machining with WCCo-cBN composite cutting tools. Both contact and thermographic methods of cutting temperature measurements have been described and compared. As ...
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This paper describes measurement methods of temperature machining with WCCo-cBN composite cutting tools. Both contact and thermographic methods of cutting temperature measurements have been described and compared. As well, methodology of emissivity evaluation of cutting tools materials has been mentioned. This paper also covers influence of antiwear TiAlN PVD coating on cutting temperature in reference to machining with uncoated tools.
In recent years, the Design of Experiments (hereafter, DOE) have been widely used to decide optimum processing conditions. However, when large interactions between several control factors are present, since they behav...
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ISBN:
(纸本)9781538695760
In recent years, the Design of Experiments (hereafter, DOE) have been widely used to decide optimum processing conditions. However, when large interactions between several control factors are present, since they behave as confounding variables, the estimation accuracy is significantly reduced and making the practical use of the DOE extremely difficult in some cases. As a common countermeasure, calculation accuracy is confirmed by comparing, through the final results, the best and worst results. This can be of great harm in terms of time and labor and, if the difference between the best and worst results is large, could result in the DOE estimations being ignored. Therefore, in previous studies, a usable tool for the easy determination of control factor interactions in the DOE was developed;here, said tool was able to determine control factor interactions in the DOE through several mathematical models. This research presented an improvement to the previous tool through an improved algorithm and more detailed mathematical models to evaluate complex control factor interactions. It was concluded that, (1) an improved tool for the determination of control factor interactions in the DOE and the Taguchi methods was developed, (2) the tool was able to detect previously indistinguishable complex control factor interactions in the DOE or the Taguchi methods, (3) a new algorithm was able to determine complex control factor interactions in models between control factors and functions.
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