Serial manipulators have a workspace within which the manipulator can reach. While designing and developing a manipulator, it is important to check whether a pose (position and orientation) is attainable or not. thoug...
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Serial manipulators have a workspace within which the manipulator can reach. While designing and developing a manipulator, it is important to check whether a pose (position and orientation) is attainable or not. though there exist many methods on workspace analysis that are proposed by researchers, these have to be implemented by the users in the form of MATLAB program or equivalent. there is no free software, in the best knowledge of the authors, that can draw workspace for a wrist-partitioned serial manipulator. through this paper, the authors present a new module on Workspace Analysis in RoboAnalyzer software. the module lets the user enter the Denavit-Hartenberg (DH) parameters of a serial manipulator and its workspace region is drawn and shown to the user. the authors have discovered that incremental joint motion gives better results than the Monte-Carlo random sampling of joint angles within allowed joint range, proposed by many researchers. the authors also propose a novel method to determine the boundary of the points in the workspace using a concept of radial frustum. Finally, the workspace regions of many industrial manipulators were drawn using the proposed module and verified to be correct. the authors feel the module would help in effective teaching and learning in a robotics related course and also help robotics designers to visualize the workspace and make any corrective changes in their design.
the acquisition of the center of gravity of the upper body of the exoskeleton robot is critical in the balance control. In order to solve the problems of poor portability, low efficiency and precision of gravity cente...
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the optimization of the Operation and Maintenance (O&M) of energy systems equipped with Prognostics and Health Management (PHM) capabilities can be framed as a sequential decision process, which can be addressed b...
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the proceedings contain 13 papers. the special focus in this conference is on Power and Energy Systems. the topics include: Linguistic hesitant fuzzy sets and cloud model based risk assessment of gaseous hydrogen stor...
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(纸本)9789811553738
the proceedings contain 13 papers. the special focus in this conference is on Power and Energy Systems. the topics include: Linguistic hesitant fuzzy sets and cloud model based risk assessment of gaseous hydrogen storage in china;a voltage based communication-free demand response controller;renewable energy installation: Challenges and benefits in oil/gas drilling rigs;effects of pv modules temperature variations on the characteristic of pv array;effects of pv module shading on the efficiency of the pv array;grid inertia reconfiguration strategy and tech solution suggestions for South Australia blackouts;robust least mean logarithmic square control of multifunctional pv battery grid tied system;modular multilevel converter based hvdc system using pd pwm algorithm;single-inductor dual outputs buck-boost converter with dual switches;voltage unbalance mitigation using controlled vehicle to grid (v2g) strategy.
Recently, to build a smart factory, research is being conducted to perform fault diagnosis and defect detection based on vibration and noise signals generated when a mechanical system is driven using deep-learning tec...
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the coronavirus disease (COVID-19) outbreak-related lockdowns have shown that the current public distribution systems (PDS) are inefficient, as it does not reach the needy on-time. Considering a vast country like Indi...
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In this paper, a multi-port hybrid nine-arm modular multilevel converter is proposed for integration of an offshore wind farm into the HVDC subsea power transmission system feeding an offshore subsea oil and gas proce...
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Multilevel inverters (MLI) are gaining more popularity due to their supremacy over their two-level counterparts. they are extensively used in medium and high-power applications. However, researches have been focusing ...
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In this 21st century the world is driven by data, analysis, and predictions based on this data is substantial. However, these predictions that have an immense impact on our daily life comes with an overhead of complex...
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Today, energy is a strategic value and became a phenomenon that shows the level of development of countries. Withthe increase in energy consumption in many countries, the efficient use of resources in energy producti...
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