This paper presents the control techniques used for 9-Phase Voltage Source Inverter. For high power application the 9-phase inverter fed 9-phase drives dominantly used. In the proposed work a comprehensive relationshi...
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Bevel-tipped flexible needles can be steered to reach clinical targets along curvilinear paths in 3D while avoiding obstacles. Steering by duty-cycled rotation increases the versatility of this approach by providing p...
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ISBN:
(纸本)9789898565716
Bevel-tipped flexible needles can be steered to reach clinical targets along curvilinear paths in 3D while avoiding obstacles. Steering by duty-cycled rotation increases the versatility of this approach by providing proportional control of trajectory curvature. This paper presents computationally efficient techniques for path planning and path-following control for this application, using a 3D simulated brain environment. Path planning algorithms for this class of steerable needles have been developed using Rapidly-exploring Random Trees (RRTs). This paper expands on these methods, using quaternions for representation of rotation, and enhancing computational efficiency through use of interpolation, and by relaxing the entry constraint. For path-following, a look-ahead proportional controller for position and orientation is presented. Simulations in a 3D brain-like environment demonstrate the performance of the proposed planner and path-following controller. The look-ahead is seen to improve path-following performance.
The paper considers the problem of ship autopilot design based on Bech's model of the vessel. Since the model is highly nonlinear and some of the state vector coordinates are unavailable, the control system synthe...
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The paper considers the problem of ship autopilot design based on Bech's model of the vessel. Since the model is highly nonlinear and some of the state vector coordinates are unavailable, the control system synthesis is performed by means of output feedback linearization method combined with a nonlinear observer. Due to considerable parameter variations typical of the problem and other substantial uncertainties a robust-adaptive version of the method has been applied. The whole control system is able to ensure tracking performance on the H ∞ optimal attenuation level. This is the so-called H ∞ tracking problem in an adaptive system. Simulations of the ship course-changing process have confirmed a good performance of the proposed controller.
The last decade has seen the emergence of a unified approach for product design which attempts to combine traditionally distinct tasks such as design, management, marketing, analysis, manufacture and materials. Often ...
ISBN:
(纸本)9783642635045
The last decade has seen the emergence of a unified approach for product design which attempts to combine traditionally distinct tasks such as design, management, marketing, analysis, manufacture and materials. Often called "Concurrent Engineering" or "Simultaneous Engineering," this new philosophy aims at improving cost competitiveness by reducing waste of time, money, and other resources inherent in the iterative traditional methods. In view of the importance of this new philosophy, Concurrent Engineering is selected as the theme for this conference. The main objective of the conference was to bring together researchers and practitioners from government, industries and academia interested in the multi-disciplinary and inter-organizational productivity aspects of advanced manufacturing systems utilizing CAD/CAM, CAE, CIM, Parametric Technology, AI, robotics, AGV Technology, etc. A selection of the papers presented at the conference are organized into two volumes emphasizing the aspects of Concurrent Engineering and Flexible automation.
Nuclear power is worldwide popular and keeps rapidly growing, but manual operation in nuclear facilities is challenging by safety and workload issues. Mobile manipulators are ideal to replace human works in nuclear ap...
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In this paper a method of designing the rule bases of fuzzy controllers for Wheel Slide Protection Systems (WSP) for rail vehicles is presented. In this method results of simulation of two reference controllers are us...
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In this paper a method of designing the rule bases of fuzzy controllers for Wheel Slide Protection Systems (WSP) for rail vehicles is presented. In this method results of simulation of two reference controllers are used, both of which use signals which are nor available during normal operation of the systems, i.e. adhesion coefficient and translation velocity of the vehicle. Simulations have performed on a simulation model of a braked rail vehicle and controllers implemented in Matlab Simulink ® . The proposed method makes possible automatization of the design process of WSP fuzzy controllers.
This work presents some results obtained from image processing and motion analysis of the human body. The issues raised in motion analysis are of interest for obtaining motion-specific parameters for movements of the ...
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Induction motors comprise more than 90 percent of the industrial load. With time, Induction motors are prone to losses. To save energy consumption, predictive maintenance of motors must be carried out at regular inter...
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In this paper we present small survey of commonly used design methods applied to the field of Automated Manufacturing Systems (AMS). Putting forward the lack of methods really suited to the field, we then introduce a ...
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ISBN:
(纸本)0780308913
In this paper we present small survey of commonly used design methods applied to the field of Automated Manufacturing Systems (AMS). Putting forward the lack of methods really suited to the field, we then introduce a new specific formalism. This formalism is based on results from artificial intelligence and cognitive psychology works on human problem solving strategies. It is described on a validation context which is a small tooling model that allows to put forward its assets. Some extensions to the formalism are then presented. These ones allow a more formal description of the AMS in order to ease the transition toward the realization of the system.
In the paper an approach to AR time-series identification based on observations obtained using data acquisition system equipped with a quantizer having saturation is presented. In the presented approach AR time-series...
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In the paper an approach to AR time-series identification based on observations obtained using data acquisition system equipped with a quantizer having saturation is presented. In the presented approach AR time-series model identification is replaced by an ARMA time-series model identification that returns parameters of AR time-series. A focus on model identification for ultra low- and ultra high-power AR time-series is given. The presented discussion is illustrated by a simulation case study showing properties of the presented approach.
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