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Impedance control for articulated robot of 6 degree-of-freedom in consideration of critically damped condition with an object dynamics

Impedance control for articulated robot of 6 degree-of-freed...

引用

SICE Annual conference

作者： F. Nagata K. Watanabe K. Sato K. Izumi T. Suehiro Interior Design Research Institute Fukuoka Industrial Technology Center Fukuoka Japan Department of Mechanical Engineering Faculty of Science and Engineering Saga University Saga Japan Mechanics and Electronics Research Institute Fukuoka Industrial Technology Center Fukuoka Japan

This paper presents a new position-based impedance control that can take into account of a desired position in the force control, and gives a transformation technique from the position command to the torque command in order to apply the control to an industrial robot whose servo system is opened or to implement it in computer simulations. In order to determine a suitable compliance without trial and error, this paper introduces a new method that produces the desired time-varying compliance, giving the critical damping in contact with an object, by using information on inertia matrices. simulation results have shown that the proposed methods are very effective for realizing it in industrial robots and for deciding the desired compliance without any complicated tuning.

关键词： Impedance Robot control Service robots Force control Torque control Computer industry Electrical equipment industry Industrial control Servomechanisms Computer simulation

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An improved circuit configuration of three-phase PFC converter

An improved circuit configuration of three-phase PFC convert...

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International conference on Power Electronics and Drive Systems (PEDS)

作者： K. Hirachi K. Nishimura M. Kurokawa M. Nakaoka Research and Development Division Yuasa Corporation Osaka Japan Department of Electrical and Electronics Engineering The Graduate School of Engineering and Science Yamaguchi University Yamaguchi Japan

The discontinuous current mode control scheme for AC/DC converters with active power filtering function and power factor correction scheme has seen widespread use for single phase input power conversion supplies, because this control implementation has practical advantages of simple control system configuration and cost-effectiveness. But this control scheme has not been for three phase input power conversion supplies because the three-phase PFC converter characteristics of conventional control scheme for three phase BC mains have significant disadvantages. In order to improve the disadvantages, a new PFC converter circuit configuration with discontinuous current mode control scheme suitable for three phase AC mains is proposed by the authors. This paper presents an operating principle and unique features of the proposed three phase active PFC converter topology and its control strategy on the basis of simulation results. In addition the harmonic analysis of the utility-grid side current of the proposed three-phase PFC converter is carried out as compared with the conventional ones.

关键词： Power harmonic filters Inductors Active filters Control systems Power engineering and energy Power supplies Circuit simulation Switching circuits Current control Switching converters

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Redesign of an introductory electronics class

Redesign of an introductory electronics class

引用

Frontiers in Education (FIE) conference

作者： M.E. Macias G. Dieck Electrical Engineering Department ITESM Monterrey Monterrey Mexico

In the summer of 1997, the ITESM initiated a project to reengineer the teaching-learning process at the 27 campuses of the system. The project incorporates the fundamental aspects written in the ITESM mission statement for the year 2005. In particular, to achieve the desired profile for the ITESM students, each course regardless of the discipline, must incorporate attitudes, values and abilities explicitly written on the mission statement. For instance, honesty, self-study, cooperative learning, autoevaluation, and critical thinking are, among others, some of the values and abilities distributed during the course. This distribution is performed adding procedural and attitudinal contents to the standard conceptual contents written in the analytical program for the course. This article presents the redesign of an introductory electronics class that is taken by junior students of the Electric and Mechanic engineering Program at ITESM, Campus Monterrey. The redesign process implies the transformation of a traditional educative process, focused mainly on teaching and centered around the professor, to an educational process focused on learning and centered around the student. The paper describes an instructional model that strengthens the knowledge-acquisition stage, and promotes the development of abilities, attitudes and values.

关键词： Collaborative work Space technology Online Communities/Technical Collaboration Cathode ray tubes Performance analysis Education Technology planning Technology management Circuit simulation Electronic circuits

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Toward the next generation public traffic information system using Internet

Toward the next generation public traffic information system...

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International conference on High Performance Computing in the Asia-Pacific Region

作者： Seokhoon Lee Jongill Ahn Sungyong Lee Tae-Choong Chung Hyonwoo Seung Department of Computer Engineering Kyung Hee University South Korea Department of Computer Science Seoul Women's University South Korea

Introduces a next-generation public traffic information system which facilitates the WWW (World Wide Web) to provide users with easier access and use. The proposed system is composed of three subsystems: a client/server interface, a knowledge-based path search system and a traffic data storage system. The user interface utilizes the java language to furnish users with multimedia data accessibility and interactivity. The path search system produces optimal solutions based on dynamic traffic data, while previous search systems were limited to using static traffic data such as bus/subway route information. The storage system is designed to give the search system more efficient access to the traffic information. The consisting subsystems are interconnected on the WWW using CGI (Common Gateway Interface). A client requests the server to search a path, and the server asks the search system (through CGI) to get a result from the database and returns it to the client. The system can be extended to an integrated navigation system which includes a variety of information on the Internet as well as traffic information.

关键词： Information systems Web server World Wide Web Web sites Data storage systems User interfaces java Databases Navigation Internet

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Job Scheduling Performance for Multiple Partner Non-Contiguous Allocation with k-Ary n-Cube connected Multi-Computers 2

Job Scheduling Performance for Multiple Partner Non-Contiguo...

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2nd Annual International conference on Information and sciences, AiCIS 2020

作者： Al-Kerboly, Doreyed Muhammed Ahmed Awaad College of Education for Pure Science University of Anbar Anbar Iraq

ISBN: (纸本)9781728191690

The non-contiguous allocation strategies (N.C.A.S) execution might be genuinely full of the activity booking procedure utilized for restricting the sort in which occupations are decide to usage. With this paper, the renowned Multiple Partner N.C.A.S implementation aimed at k-ary n-cube shape associated multi-computers is returned to recognizing different important algorithms of job scheduling. These algorithms are the largest job first (LJF), last come first served (LCFS), smallest job first (SJF), and first come first served (FCFS) job scheduling algorithms. The algorithms are coordinated through complete flutter level simulations. Entirely simulations result subordinate upon engineered remaining task at synthetic workload models with these scenarios. Finished explicit, it is generously better than SJF and LJF in relationships of system utilization and average job turnaround times under little to hefty system loads. © 2020 IEEE.

关键词： Scheduling

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Geometrical approach for the workspace of 6-DOF parallel manipulators

Geometrical approach for the workspace of 6-DOF parallel man...

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IEEE International conference on Robotics and Automation (ICRA)

作者： D.J. Kim W.K. Chung Y. Youm Robotilcs Laboratory School of Mech. Engineering Pohang University of Science and Technology South Korea

Since parallel manipulators have relatively small workspace when compared to serial manipulators, it is important to determine the workspace in the design stage. However, due to the complexity of the closed-loop chain mechanism, the determination of the workspace is difficult. In this paper, a fully geometrical method for the determination of the workspace of 6-DOF parallel manipulators is presented using the concept of a 4-bar linkage. The reachable and dexterous workspace can be determined from the proposed algorithm. In order to evaluate the workspace, each leg is considered as an open chain, and two kinematic constraints-position and mechanism constraints-are developed. The proposed method is verified by simulation.

关键词： Kinematics Leg Manipulators Geometry Robots Interference constraints Equations

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Adaptive control of a periodic orbit for nonlinear system under disturbances

Adaptive control of a periodic orbit for nonlinear system un...

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American Control conference (ACC)

作者： P.Yu. Guzenko Institute for Problems of Mechanical Engineering Russian Academy of Science Saint Petersburg Russia

The problem of adaptive output feedback control aimed at stabilization of a (periodic or chaotic) goal trajectory is considered. Algorithms of adaptive control based on linearization of a controlled Poincare map and the method of goal inequalities posed first in Fradov and Guzenko (1997) are briefly reviewed. Those algorithms are applied to stabilization of the limit cycle of a brusselator model when the parameters of controlled system are not known exactly and the input values of control algorithm contain the random error of measurement. Some results of computer simulation are also included.

关键词： Adaptive control Nonlinear systems Programmable control Output feedback Chaos Limit-cycles Control system synthesis Computer errors Error correction Extraterrestrial measurements

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A neural network approach for dynamic load balancing in homogeneous distributed systems

A neural network approach for dynamic load balancing in homo...

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Annual Hawaii International conference on System sciences (HICSS)

作者： A.E. El-Abd M.I. El-Bendary Department of Electronics and Computer Engineering Arab Academy for Science and Technology Alexandria Egypt

A novel neural-based solution to the problem of dynamic load balancing in homogeneous distributed systems is proposed. The winner-take-all (WTA) neural network model is used for implementing the selection and location policies of a typical dynamic load balancing algorithm. Tasks with interprocess communication requirements are considered. All delays due to any usage of the communications network resource are taken into account. Performance studied by simulation is compared against the no load balancing case. The results suggest that it is always beneficial to use load balancing than not at all.

关键词： Neural networks Load management Intelligent networks Costs Neurons Distributed computing Communication networks System performance Power system modeling Message passing

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Cut-off in engine control: a hybrid system approach

Cut-off in engine control: a hybrid system approach

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IEEE conference on Decision and Control

作者： A. Balluchi M. Di Benedetto C. Pinello C. Rossi A. Sangiovanni-Vincentelli PARADES Rome Italy Dipartimento di Ingegneria Elettrica Università Aquila L'Aquila Italy Magneti Marelli S. p. A. Bologna Italy Department of Electrical Engineering and Computer Science University of California Berkeley Berkeley CA USA

ISBN: (纸本)0780341872

A novel approach to the control of an automotive engine in the cut-off region is presented. First, a hybrid model which describes the torque generation mechanism and the power-train dynamics is developed. Then, the cut-off control problem is formulated as a hybrid optimization problem, whose solution is obtained by relaxing it to the continuous domain and mapping its solution back into the hybrid domain. A formal analysis as well as simulation results demonstrate the properties and the quality of the control law.

关键词： Engines Control systems Torque Fuels Power generation Automotive engineering Hybrid power systems Optimal control Power system modeling Sliding mode control

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Supercomputing applications in internal combustion engine design and analysis

Supercomputing applications in internal combustion engine de...

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International conference on High Performance Computing in the Asia-Pacific Region

作者： Woo Tae Kim K.Y. Huh Mechanical Engineering Department Pohang University of Science and Technology Pohang Gyeongsangbuk South Korea

Supercomputing applications in internal combustion engine design and analysis are introduced in this paper. The grid generation procedure, flow field modeling, fuel spray and combustion models are briefly reviewed. Results for three example cases: motoring flow in a pent-roof engine, charge distribution in a DISC engine, and coherent flamelet combustion model are given to illustrate the current status and future prospects of supercomputing in the automotive industry. It is expected that further development and cost reduction in supercomputing will allow accurate simulation with an increased number of grid points and more realistic physical models.

关键词： Internal combustion engines Mesh generation Spraying Computational modeling Geometry Design automation Mechanical engineering Automotive engineering Fuel processing industries Costs

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