This paper presents a novel method for control cooperation between human and robots without any explicit communication line. We have proposed a fuzzy communication philosophy and implementation technique, where the co...
详细信息
Model uncertainties and external disturbances extensively exist in UnmannedSurface Vehicle (USV) systems, which will greatly deteriorate the autonomousability. In this paper, a, new kind, of robust controller design s...
详细信息
The paper suggests a three level hierarchical structure dedicated to the behaviourist representation of knowledge. The first level, referred to as the strategic one, is used in the problem solving providing the soluti...
详细信息
The paper suggests a three level hierarchical structure dedicated to the behaviourist representation of knowledge. The first level, referred to as the strategic one, is used in the problem solving providing the solution. The second level, called the tactical one, is employed in the solution implementation. The third level, named as the operational one, is meant for the solution execution. The first level is a strategically level the second is a tactical level and the third is an operational level. Feedback information from all higherhierarchical levels is used in learning to develop the lower levels. A case study concerning the control system of an autonomous car is considered to exemplify the design of the new knowledge representation structure.
A wireless, in‐situ ultrasonic guided wave structural health monitoring (SHM) system was developed and tested for aircraft wing inspection. It applies small, low cost and light weight piezoelectric (PZT) disc transdu...
A wireless, in‐situ ultrasonic guided wave structural health monitoring (SHM) system was developed and tested for aircraft wing inspection. It applies small, low cost and light weight piezoelectric (PZT) disc transducer network bonded to the surface of a structure, and an embedded miniature diagnosis device that can generate 350 kHz, 70 V peak‐to‐peak tone‐burst signal; collect, amplify and digitize multiple channel ultrasonic signals; and process the data on‐board and transfer them wirelessly to a ground station. The whole system could be powered by an X‐band microwave rectenna that converts illuminating microwave energy into DC. The data collected with this device are almost identical with those collected through a direct‐wire connection.
Carbon fibers are intrinsically conductive. They form an equivalent impedance network inside a carbon fiber reinforced plastic (CFRP) composite material. This paper presents a method of using the resistance value chan...
Carbon fibers are intrinsically conductive. They form an equivalent impedance network inside a carbon fiber reinforced plastic (CFRP) composite material. This paper presents a method of using the resistance value change to detect, localize and size the damage or defect initiated inside the CFRP. Impact delamination and fatigue cracks are successfully monitored with this approach. This low cost, easy‐to‐implement technology could benefit aerospace and automotive industries for in‐situ structural health monitoring of graphite‐epoxy based components and subsystems.
在这份报纸，形成控制和障碍回避问题被处理一统一了控制算法，它允许追随者当维持从领导人的需要的相对适用或相对距离时，避免障碍。In the known 领导人追随者机器人形成控制文学，领导人机器人的绝对运动状态被要求控制追随者，它...
详细信息
在这份报纸，形成控制和障碍回避问题被处理一统一了控制算法，它允许追随者当维持从领导人的需要的相对适用或相对距离时，避免障碍。In the known 领导人追随者机器人形成控制文学，领导人机器人的绝对运动状态被要求控制追随者，它不能在一些环境是可得到的。在这研究，领导人追随者机器人形成以在领导人和追随者机器人之间的相对运动状态被建模并且控制。领导人机器人的绝对运动状态没在建议形成控制器被要求。而且，研究基于察觉到在机器人和障碍之间的相对运动被扩大了到一个新奇障碍回避计划。试验性的调查用平台被进行了由活动机器人和计算机视觉系统，和结果表明了的三 nonholonomic 组成了建议方法的有效性。
A hybrid three‐dimensional boundary element normal mode expansion technique is developed to study the guided wave scattering from an arbitrary shape defect in a plate. Lamb wave incident into a circular through plate...
A hybrid three‐dimensional boundary element normal mode expansion technique is developed to study the guided wave scattering from an arbitrary shape defect in a plate. Lamb wave incident into a circular through plate hole were studied as an example. The scattered wave displacement field and each normal mode component are given. Mode conversion from Lamb wave to SH wave and vice versa at the defect boundary were observed.
We designed the leg mechanism of a water surface runner to generate motion with sufficient force to support and propel it the water with minimum power consumption. We studied force acting between the foot and water wh...
详细信息
Practical stability of multiple robots for compliant manipulation on dynamic enviroments is addressed in this paper. The complete dynamic model of multiple robots holding a dynamic object is presented. The control tas...
详细信息
Practical stability of multiple robots for compliant manipulation on dynamic enviroments is addressed in this paper. The complete dynamic model of multiple robots holding a dynamic object is presented. The control task is specified as a task of practical stability of multiple robots around the nominal robot trajectories. An adaptive control law composed of an identification part (parameter update law), and a control law part is synthesized. It has the inverse dynamics controller structure. The test condition for the practical stability of the multiple robots system with the proposed adaptive control law is derived.
暂无评论