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Robust Leader-follower Formation Control of Mobile Robots Based on a Second Order Kinematics Model

自动化学报 2007年第9期33卷 947-955页

作者： LIU Shi-Cai TAN Da-Long LIU Guang-Jun Robotics Laboratory Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 P. R. China Graduate University of Chinese Academy of Sciences Beijing 100049 P. R. China Department of Aerospace Engineering Ryerson University Toronto M5B 2K3 Canada

在这份报纸，我们学习为活动机器人的领导人追随者形成建模并且控制的问题。首先，为领导人追随者机器人形成的一个新奇 kinematics 模型基于在机器人和追随者机器人的本地运动之间的相对运动状态被提出。用这个模型，向心的亲戚和在机... 详细信息

在这份报纸，我们学习为活动机器人的领导人追随者形成建模并且控制的问题。首先，为领导人追随者机器人形成的一个新奇 kinematics 模型基于在机器人和追随者机器人的本地运动之间的相对运动状态被提出。用这个模型，向心的亲戚和在机器人之间的 Coriolis 加速被测量相对、本地的运动传感器直接计算，并且利用了线性化非线性的系统方程。一个形成控制器，由反馈 linearization 部分和一个滑动模式赔偿者组成，被设计包括内部动力学稳定全面系统。控制获得被解决坚韧性不平等决定并且假定满足保证形成系统的零动力学的稳定性的一个合作协议。建议控制器为追随者机器人产生命令的加速并且使形成控制系统柔韧到领导人机器人的无节制的加速的效果。而且，一个柔韧的适应控制器被开发在系统处理参量的无常。模拟和试验性的结果表明了建议控制方法的有效性。

关键词：鲁棒性自适应控制移动式遥控装置二阶运动学模型结构控制

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Formation Control of Mobile Robots with Active Obstacle Avoidance

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自动化学报 2007年第5期33卷 529-535页

作者： LIU Shi-Cai TAN Da-Long LIU Guang-Jun Robotics Laboratory Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 P.R. China Grad-uate University ot the Chinese Academy of Sciences Beijing 100049 P. R. China Department of Aerospace Engineering Ryerson University Toronto M5B 2K3 Canada

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。

关键词：移动机器人队形控制主动避障相对运动

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Three‐Dimensional Boundary Element Modeling for Guided Waves Scattering from a Defect

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AIP Conference Proceedings 2004年第1期700卷 134-141页

作者： X. Zhao J. L. Rose 1Intelligent Automation Inc. 7519 Standish Place Suite 200 Rockville MD 20855 2Department of Engineering Science and Mechanics the Pennsylvania State University University Park PA 16802

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.

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Design of the Leg Mechanism of a Water Surface Runner

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Journal of robotics and Mechatronics 2004年第3期16卷 304-311页

作者： Higuchi, Masaru Tanaka, Hideo Tsutsumi, Shingo Takeda, Yukio Funabashi, Hiroaki Department of Mechanical Sciences and Engineering Tokyo Institute of Technology 2-12-1 Oh-okayama Meguro-ku Tokyo 152-8552 Japan CAD Application Department Armonicos Co. Ltd. Act Tower 21F 111-2 Itaya-machi Hamamatsu Shizuoka430-7721 Japan Development section 1 Robot Plant Robotics Automation Division Yasukawa Electric Corporation 11-1 Kosagidatyou Yahatanisi-ku Kitakyushu-city Fukuoka806-0056 Japan Shibaura Institute of Technology 3-9-14 Shibaura Minato-ku Tokyo 108-8548 Japan

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 when the foot impacted on the water and strokes into the water experimentally. We propose leg motion so that the foot is not pulled downward by water based on observation of water behavior. Based on this formulation and idea, we obtained optimal foot motion through simulations and designed the leg mechanism, then designed and built a prototype water surface runner. We discuss its motion and the force acting on the foot together with experimental results. © Fuji Technology Press Ltd.

关键词： Machine design

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Practical stability of multiple robot manipulators in contact tasks

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IFAC Proceedings Volumes 2003年第7期36卷 111-116页

作者： Atanasko Tuneski Miomir Vukobratovic Darko Babunski SS Cyril and Methodius University Faculty of Mechanical Engineering Hydraulic Engineering and Automation Department P.O. Box 464 1000 Skopje Republic of Macedonia Fax: +389-2-362-298 Robotics Laboratory Mihailo Pupin Institute Belgrade Serbia and Monte Negro Senior Member IEEE Fax: + 381 11 775-870

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.

关键词： practical stability multiple robots adaptive control

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Characteristic evaluation of CFRP composites under falling weight impact loading

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AIP Conference Proceedings 2002年第1期615卷 1046-1053页

作者： K. H. Im N. S. Park D. K. Hsu S. K. Kim J. W. Park I. Y. Yang 1Department of Automotive Engineering Woosuk University Wanju-gun Chonbuk 565-701 Korea 2Department of Mechanical Design Eng. Chosun University 375 Seosuk-dong Dong-gu Kwangju 501-759 Korea 3Center for Nondestructive Evaluation Iowa State University Scholl Road 1915 Ames Iowa 50011 4Department of Automobile Engineering Iksan National College 194-5 Ma-dong Iksan Chonbuk 570-752 Korea 5Factory Automation Research Center for Parts of Vehicles Chosun University 375 Seosuk-dong Dong-gu Kwangju 501-759 Korea

This paper describes a method for a falling weight impact test to estimate the impact energy absorbing characteristics and impact strength of carbon-fiber reinforced plastics (CFRP) laminate plates based on considerations of stress wave propagation theory, which were converted to measurements of load and displacement verses time. The delamination area of impacted specimens for the different ply orientations was measured with an ultrasonic C-scanner to determine the correlation between impact energy and delamination area. The energy absorbed by a quasi-isotropic specimen having four interfaces was higher than that of orthotropic laminates with two interfaces. The more interfaces, the greater the energy absorbed. The absorbed energy of a hybrid specimen containing a CFRP layer was higher than that of normal specimens. Also, a falling weight impact tester was built to evaluate the characteristics and impact strength of CFRPs.

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The Approach to Develop the Distributed Information Decision Support System

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IFAC Proceedings Volumes 2001年第8期34卷 421-425页

作者： Peter Groumpos Salavat Kusimov Barry Ilyasov Lilia Chernyakhovskaya Marsel Nizamutdinov University of Patras Departament of Electrical and Computer Engineering Laborotory For Automation & Robotics GR-265 00 Rion Greece Fax: +30 61 997 309 Ufa State Aviation Technical University Department of Technical Cybernetics 12 K. Marx Street Ufa 450000 Russia Fax: (347-2) 22-29-18

Hierarchical decision support system in emergencies on expert systems is suggested. Knowledge bases of the expert systems are created as a result of simulating of a complex dynamic objects management in emergencies and developing the thesaurus of a problem area on the basis of the simulation. Methodological aspects of classification the natural - language cases descriptions based on linguistic analysis of subject area are under discussion. The structure of the thesaurus of subject area is considred. Architecture of information decision support system is suggested

关键词： decision support systems expert systems knowledge engineering cases classification information retrieval

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Effect of temperatures on impact damage and residual strength of CFRP composite laminates

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AIP Conference Proceedings 2000年第1期509卷 1247-1254页

作者： Kwang-Hee Im Cheon-Seok Cha Jae-Woung Park Yong-Hun Cha In-Young Yang Jong-An Jung 1Factory Automation Research Center for Parts of Vehicles Chosun University 375 Sosok-dong Dong-gu Kwangju 501-759 Korea 2Department of Mechanical Design Engineering Chosun University 375 Sosok-dong Dong-gu Kwangju 501-759 Korea Department of Automobile Engineering Songwon College 199-1 Kwangcheon-dong Seo-gu Kwangju 502-742 Korea

In this paper, the effect of temperature variations (low and high temperatures) was experimentally studied on the impact damages of CFRP laminates. Composite laminates used for this experiment are CF/EPOXY orthotropic laminated plates with two-interfaces [06/906]s and [04/904]s, and CF/PEEK orthotropic laminated plates with two-interfaces [06/906]s. A steel ball launched by the air gun collides against CFRP laminates to generate impact damages. With impact-damaged specimens, nondestructive evaluation (NDE) technique, such as a scanning acoustic microscope (SAM) was performed on the delamination-damaged samples to characterize damage growth using the SAM after impact damages according to the temperatures. Therefore, this study aims experimentally to present the interrelations between the impact energy and impact damages (i.e. delamination area and matrix) of CFRP laminates. (CF/EPOXY, CF/PEEK) subjected to FOD (foreign object damages) under low and high temperatures.

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Procedure of system-formation as process of the purpose achievement in manufacturing systems

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IFAC Proceedings Volumes 2000年第20期33卷 499-504页

作者： Peter Groumpos Salavat Kusimov Barry Ilyasov Larisa Ismagilova Roza Valeeva Ilmira Gerasimova University of Patras Department of Electrical and Computer Engineering Laboratory for Automation & Robotics GR-265 OORion Greece Fax: +50 61 997 309 Ufa State Aviation Technical University 12 K.Marx Street Ufa 450000 Russia Fax: (347-2) 22-29-18

There are considered the creation problems of organizational and manufacturing systems as formalized system-formation process according to the construction conception of resource-goal triads. Triad is formed and is used as the base element of description formalization of the purpose achievement procedure by means of system-formation process and connects three components necessary for creation of any system (reasons of system origin, existence purpose, possibility of creation). The proposed procedure of system-formation is a basis for development of theoretical bases for modeling and research of controlled manufacturing systems.

关键词： system concepts system methodology system design manufacturing systems

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MD simulation of heterogeneous vapor nucleation on a solid surface

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AIP Conference Proceedings 2000年第1期534卷 253-256页

作者： K. T. Kholmurodov K. Yasuoka X. C. Zeng 1Computational Science Division Advanced Computing Center The Institute of Physical and Chemical Research (RIKEN) Hirosawa 2-1 Wako Saitama 351-0198 Japan 4Laboratory of Computing Techniques and Automation Joint Institute for Nuclear Research Dubna Moscow region 141980 Russia 2Department of Mechanical Engineering Keio University Yokohama 223-8522 Japan 3Department of Chemistry University of Nebraska-Lincoln Lincoln Nebraska 68588

Molecular dynamics simulations of nucleation of a supersaturated Lennard-Jones vapor confined between parallel solid walls have been performed. The walls in the system, unlike the structure-less one [K. Yasuoka, G. T. Gao, and X. C. Zeng, J. Chem. Phys. 112, pp. 4279–4285 (2000)], are simulated in a more realistic fashion. The particles in the vapor and the solid walls are exactly the same and are described by the same Lennard-Jones potential. The walls are fixed in place in an fcc lattice structure by a combination of the restoring tethering forces and constraint mechanism. The restoring potential confines wall atoms to their lattice sites at the equilibrium state. The walls during simulations are thermostatted, so the heat being dissipated through conduction to the walls, as it is in an experiment [S. T. Cui, P. T. Cummings, and H. D. Cochran, J. Chem. Phys. 111, pp. 1273–1280 (1999)]. Condensation of a supersaturated vapor on a solid surface is investigated with the increasing strength of the wall-vapor interaction. The wall surfaces are the same (100) surface, but with the different strengths of the attraction of vapor atoms: strongly adsorbing wall (with ε1=ε ) and weakly adsorbing wall (with ε2=0.1ε ). Transition from a metastable supersaturated vapor phase to a stable condensed state is studied by monitoring the molecular dynamics configurations of the system in real time and identifying the short-lived droplet nucleus.

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