This paper discusses the issue of designing the logical architecture of a control system intended for a complex medical robot. The considered robot is designed for tele-examination of patients. The logical architectur...
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This paper discusses the issue of designing the logical architecture of a control system intended for a complex medical robot. The considered robot is designed for tele-examination of patients. The logical architecture is a part of this work. We present its overall structure and discuss selected components. The logical architecture is presented in the context of applied development methodology, the specifics of the consortium, and control system requirements. On the other hand this architecture is assessed from the perspective of initial experience in system integration and preliminary experiences of the end users.
In the paper, a novel practical analog modeling of multiple-switching fractional order systems based on recursive fractional variable order integrals, is introduced. Presented circuit, based on domino ladder approxima...
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In the paper, a novel practical analog modeling of multiple-switching fractional order systems based on recursive fractional variable order integrals, is introduced. Presented circuit, based on domino ladder approximation of half order impedance, allows to multiple-switching between orders 0.5 and 1. Moreover, numerical scheme for solving variable order differential equations is introduced. Experimental results of modeling are also presented and compared with numerical simulations.
This paper deals with the problem of trajectory tracking control for some vehicles (underwater vehicles, and indoor airships). The approach uses a velocity transformation which results from the inertia matrix decompos...
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This paper deals with the problem of trajectory tracking control for some vehicles (underwater vehicles, and indoor airships). The approach uses a velocity transformation which results from the inertia matrix decomposition. Next, a model-based non-adaptive nonlinear tracking controller in terms of the Generalized Velocity Components (GVC) is proposed. An important property of the algorithm is that the control gains are closely related to the dynamics of the vehicle (especially dynamical couplings). The general algorithm was given for a 6 DOF vehicle and tested using simulation. The results obtained for a full airship model have shown that the control scheme guarantees satisfactory performance.
The Supervisory Control Theory allows the modelbased synthesis of restrictive controllers for Discrete Event Systems. To enable the design of enforcing controllers, the consideration of enforceability is reasonable be...
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The Supervisory Control Theory allows the modelbased synthesis of restrictive controllers for Discrete Event Systems. To enable the design of enforcing controllers, the consideration of enforceability is reasonable besides the event property of controllability. Therefore, either the formal framework may be extended by admitting an appropriate control law, or the modeling strategy may be adjusted. In this paper, we present four different approaches for the consideration of event enforcement in the context of the Supervisory Control Theory, discuss their advantages and disadvantages, and compare them by the application to a simple example.
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.
In off-road environments, the assessment and classification in travers-able and non-traversable areas is a challenging task. Not only does the drive-ability depend on the vehicle's state in combination with the en...
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ISBN:
(纸本)9783030112929;9783030112912
In off-road environments, the assessment and classification in travers-able and non-traversable areas is a challenging task. Not only does the drive-ability depend on the vehicle's state in combination with the environmental geometry, but also the assessment is complicated by noisy and wrong sensor data. Thereby, faulty evaluation may lead to severe harm to goods or people since either safety issues or reliability problems are caused. While for the control part behavior-based systems proved to be suitable due to their inherent robustness against unforeseen situations, robust perception is still an unsolved problem leading to severe system failures. This paper faces the perception problem by introducing a new data quality-based perception module based on the integrated Behavior-Based Control (iB2C) architecture. Therefore, a new concept of data quality in behavior-based systems and methods for quality aware data fusion are developed while taking advantage of the modularity, extensibility and traceability of the existing architecture.
In the paper an approach to discrete-time frequency response as well as the corresponding parametric model identification using deterministic discrete-time multisine excitations and quantized plant output is presented...
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In the paper an approach to discrete-time frequency response as well as the corresponding parametric model identification using deterministic discrete-time multisine excitations and quantized plant output is presented. A focus on model identification in the case of disturbance-free plant output and output signal level comparable with data acquisition system accuracy is given. Convergence of the identified model to true plant is discussed. The presented discussion is illustrated by an example showing properties of the presented approach.
Since robotic applications are becoming more and more sophisticated, the design, development, and maintenance of the related software may benefit from a modular approach both in terms of flexibility and reusability. B...
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Industrial robots equipped with cutting or abrasive tools are becoming increasingly important for manufacturing operations that require material removal. In these operations, the robot creates physical interaction bet...
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The paper deals with discretisation of 2-D spatially invariant systems. Three different discretisation schemes are used - Tustin's approximation, backward difference scheme and Crank-Nicolson discretisation. Their...
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The paper deals with discretisation of 2-D spatially invariant systems. Three different discretisation schemes are used - Tustin's approximation, backward difference scheme and Crank-Nicolson discretisation. Their properties and importance are discussed in the paper. As an example a heat conduction in a rod is considered. Its model discrete in both time and space is obtained using all the above mentioned difference schemes. To determine whether the discrete model converges to the solution, von Neumann analysis of stability is applied to each scheme. The system is stabilised with use of each of obtained discrete models. Numerical simulations are included. Experiments with changing the parameters of discretisation are also given.
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