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International Conference on Ubiquitous robots and Ambient Intelligence (UrAI)

作者： Jin Tak Kim Jungsan Cho Byungyun Park Sang-uk Chon Jaehong Seo Jungyeong Kim Sangdeok Park Department of Robotics R&D Korea Institute of Industrial Technology Korea Department of Intelligent Robot Engineering University of Science & Technology Korea

ISBN: (纸本)9781509008223

Systems that implement robot joints by using servo valve-controlled hydraulic actuators are known to be difficult to control because hydraulic systems are highly nonlinear. Although this problem is tough to solve, these systems continue to be of interest because their hydraulic manipulators have a high power-to-weight ratio, which can be used for a variety of tasks. In order to enable a hydraulic manipulator to perform these tasks, the position and orientation of its end-effector must be controlled. We have designed Virtual Spring-damper (VSd) hypothesis based quaternion controller to control the orientation of a hydraulic manipulator end-effector. VSd hypothesis is a relatively simple calculation method that uses virtual force and joint damping to move the end-position of a robot arm to the desired position (control point). We extended VSd hypothesis for orientation control and connected 2 additional VSd models to the wrist and thumb in order to control the orientation of an end-effector with 3 degrees of freedom (doF). We have proposed a quaternion controller to determine control points used as input for each VSd model. We have also designed VSd controller to calculate the control input of joints; this input is used for the movement to each control point. In order to verify the performance of the proposed control method, we present the results of experiments performed on a hydraulic manipulator with 7 doF.

关键词： Manipulators Wrist Hydraulic systems Jacobian matrices

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Oil weathering under arctic conditions 5

Oil weathering under arctic conditions

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5th Arctic Marine Oil Spill Program Technical Seminar 1982

作者： Tebeau, P.A. Mackay, d. Shiu, Wan Ying Stiver, W. Hossain, K. McCurdy, d. Paterson, S. US Coast Guard R&D Center Avery Point GrotonCT06340 United States Department of Chemical Engineering and Applied Sciences University of Toronto TorontoONM5S 1A4 Canada

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Position based in-motion alignment method for an auv

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Journal of Institute of Control, robotics and Systems 2020年第8期26卷 649-659页

作者： Choo, Jinwoo Lee, Gwonsoo Lee, Phil-Yeob Kim, Ho Sung Lee, Hansol Park, daegil Lee, Jihong Department of Mechatronics Engineering of Chungnam National University Korea Republic of Naval R&D Center Hanwha Systems Co. Ltd Korea Republic of Autonomous System R&D Center Korea Institute of Robot and Technology Convergence Korea Republic of

This paper describes a position based in-motion alignment method for underwater navigation of an AUV(Autonomous Underwater Vehicle). For proper estimation of the position and orientation of the AUV the navigation algorithm requires accurate initial values of its position and attitude. However, it is difficult to obtain exact attitude of the AUV in the marine environment, because of the AUV’s body drift caused by flow of the water. To avoid this, in general, the initial alignment is performed on shore using gravitational acceleration, with further launching of AUV into the water. In this paper, we propose the in-motion alignment algorithm that is able to accurately estimate azimuth in the marine environment. Additionally, the proposed method allows to correct velocity of the AUV. © ICrOS 2020.

关键词： Autonomous underwater vehicles

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Stability Analysis of diffusive Predator-Prey Model Involving Intra-specific Coefficients with the Concept of difference Equation 2nd

Stability Analysis of Diffusive Predator-Prey Model Involvi...

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2nd International Conference on Nonlinear dynamics and Applications, ICNdA 2024

作者： Murugesan, regan Kumaravel, Sathish Kumar rasappan, Suresh Mohan, Kala raja Nagaram, Nagadevi Bala Department of Mathematics Vel Tech Rangarajan Dr. Sagunthala R&D Institute of Science and Technology Avadi Tamilnadu Chennai600062 India Mathematics Section University of Technology and Applied Sciences - Ibri 466 Ibri516 Oman

ISBN: (纸本)9783031691331

The discussion delves into a prey-predator model encompassing three species, incorporating intra-specific coefficients alongside interval biological parameters, utilizing the concept of a difference equation. Analysis of equilibrium points and stability conditions was conducted employing Lyapunov theory. The application of the backstepping feedback method aimed to achieve global asymptotical stabilization and explore qualitative properties. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Predator prey systems

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Adaptive Observer Based Output Voltage-Tracking Control of dC-dC Boost Converters 21

Adaptive Observer Based Output Voltage-Tracking Control of D...

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21st International Bhurban Conference on applied Sciences and Technology, IBCAST 2024

作者： Zad, Haris Sheh Ulasyar, Abasin Zohaib, Adil Pak-Austria Fachhochschule: Institute of Applied Sciences & Technology Department of Mechanical & Manufacturing Engineering Haripur Pakistan Beko Corporate Drive Team Washing Machine-R&D Center Istanbul Turkey Riphah International University Department of Electrical & Computer Engineering Islamabad Pakistan

ISBN: (纸本)9798331516680

In this paper, the voltage regulation of dC-dC boost converters is investigated in the existence of unmodeled system dynamics and load perturbations. An adaptive observer based sliding mode controller (SMC) is proposed based on the radial basis function (rBF) neural networks for estimating the uncertain system function. The parameters of the rBF are updated online based on the adaptive law. The adaptive control law is developed based on the Lyapunov synthesis for the rBF model. The Lyapunov theory is utilized for proving the stability of the overall system. The chattering phenomenon is eliminated, and the robust action of the controller is ensured. For checking the effectiveness of the designed robust and adaptive controller, comparative simulations are carried out. Simulation results show better dynamic regulation of the boost converter compared to the conventional control in the presence of uncertainties and unmodeled dynamics. © 2024 IEEE.

关键词： radial basis function networks

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Correlation between the bath composition and nanoporosity of dC-electrodeposited Ni-Fe alloy

Correlation between the bath composition and nanoporosity of...

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作者： Maizza, Giovanni Pero, renato Kaciulis, Saulius Bolli, Eleonora Eom, Hyeonjin Lee, Minsu Yim, Tai Hong Department of Applied Science and Technology Politecnico di Torino Torino Italy Department of Industrial Engineering University of Rome "Tor Vergata" Rome Italy Institute for the Study of Nanostructured Materials ISMN — CNR Rome Italy Thermochemical Energy R&D Group Korea Institute of Industrial Technology Cheonan-si Korea Republic of Department of Materials Science and Engineering Hanyang University Seoul Korea Republic of Surface Technology R&D Group Korea Institute of Industrial Technology Incheon Korea Republic of

The outstanding mechanical strength of as-deposited dC-electrodeposited nanocrystalline (nc) Ni-Fe alloys has been the subject of numerous researches in view of their scientific and practical interest. However, recent studies have reported a dramatic drop in ductility upon annealing above 350°C, associated with a concomitant abnormal rapid grain growth. The inherent cause has been ascribed to the presence of a detrimental product or by product in the bath, which affects either the microstructure or causes defects in the concentration and/or distribution of the as-deposited films. The present work has been inspired by the observed abnormal behaviour of annealed electrodeposited nc Ni-Fe alloy, which has here been addressed by considering the relationship between the composition of the bath (iron-chloride, nickel-sulphate solution, saccharin and ascorbic acid) and deposition defects (e.g. grain boundary pores) in the case of an nc Ni-Fe (Fe 48 wt%) alloy. The current investigations have included X-ray photoelectron spectroscopy (XPS), field emission scanning electron microscopy (FESEM) and transmission electron microscopy (TEM) in both as-deposited and post-annealed conditions (300°C–400°C). XPS depth profiling with Ar ion sputtering showed a significant amount of C and O impurities entrapped in the foils during deposition. As such impurities are often overlooked in common analytical techniques, new scenarios may need to be rationalised to explain the observed drop in tensile ductility of the as-deposited Ni-Fe alloys. © 2020 John Wiley & Sons, Ltd.

关键词： X ray photoelectron spectroscopy

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Corrigendum to "Seismotectonic assessment of the High Atlas orogen: Implications for the 8 September Mw 6.8 El-Haouz earthquake" [Tectonophysics volume 895 (2025)]. (Tectonophysics (2025) 895, (S0040195124003755), (10.1016/***.2024.230573))

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Tectonophysics 2025年 902卷

作者： Skikra, Hamza Fadil, Abdelali Ouassanouan, Youness Lakhouidsi, Khalid Tahayt, Abdelilah Soulaimani, Abderrahmane El Moudnib, Lahcen Geology and Sustainable Mining Institute University Mohammed VI Polytechnic Morocco Department of geology Faculty of Science Semlalia Cadi Ayyad University Morocco Center for Remote Sensing Applications University Mohammed VI Polytechnic Morocco Applied Geosciences R&D Laboratory FSTT Abdelmalek Essaâdi University Tetouan Morocco Geophysics and Natural Risks Laboratory Scientific InstituteGeophysics Natural Patrimony and Green Chemistry Research Center "GEOPAC" Mohammed V University in Rabat Morocco

We wish to correct some inaccuracies in our published article. In Eqs. (2) and (3), some symbols require refinement. The corrected equations are as follows: [Formula presented] [Formula presented] These corrections do not affect the conclusions of the paper. We apologize for any confusion these errors may have caused. © 2025 Elsevier B.V.

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Stability Analysis of Vaccinated and Non-vaccinated Population of Covid’19 – A Study by Mathematical Modeling 2nd

Stability Analysis of Vaccinated and Non-vaccinated Popula...

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2nd International Conference on Nonlinear dynamics and Applications, ICNdA 2024

作者： Kumaravel, Sathish Kumar Nagaram, Nagadevi Bala Murugesan, regan Mohan, Kala raja rasappan, Suresh Department of Mathematics Vel Tech Rangarajan Dr Sagunthala R&D Institute of Science and Technology Avadi Tamilnadu Chennai600062 India Department of Mathematics Panimalar Engineering College Poonamallee Tamilnadu Chennai600123 India Mathematics Department University of Technology and Applied Sciences Ibri Ibri Oman

ISBN: (纸本)9783031691454

This work aims to study the mathematical model of the coronavirus disease, which affects human beings. A deterministic mathematical model for coronavirus disease among the population, including the vaccinated population, was developed and analyzed. Using the survey, statistical data of the vaccinated population were analyzed to reduce the COVId-19 affected count and loss of death using a mathematical model. A stability analysis was conducted to investigate the model described for the population, and the equilibrium points and interior equilibrium points of the system were derived. Positiveness and boundedness were also analyzed. The global stability analysis is expressed for the proposed model By constructing the Lyapunov function and also by the feedback controller mechanism. The results of this study were tested using simulations carried out in MATLAB. The applicability of the result was illustrated using numerical examples. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Lyapunov functions

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diffusion of Cesium in Sodium Borosilicate Glasses for Nuclear Waste Immobilisation

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MrS Online Proceedings Library 1989年第1期176卷 441-446页

作者： E. G. F. Sengersi F. J. J. G. Janssen H. de Waal Chemical Research Department N.V. KEMA R&D division Arnhem The Netherlands TNO Institute of Applied Physics - Glass Technology Department Eindhoven The Netherlands

diffusion of cesium in borosilicate glass for high-level radioactive waste is discussed. For this purpose model glasses with non-radioactive elements are being made, in accordance with the specifications of the reprocessing plants, from which concentration couples are composed. A concentration couple consists of two cylinders of borosilicate glass which contain different amounts of cesium. After heat treatment the couples are studied by means of scanning electron microscopy and X-ray microanalysis. The model study will provide a basis for predictions of the containment achieved over a longer period of time.

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Multi-Mesh-Scale Approximation of Thin Geophysical Mass Flows on Complex Topographies

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Communications in Computational Physics 2021年第1期29卷 148-185页

作者： Yih-Chin Tai Jeaniffer Vides Boniface Nkonga Chih-Yu Kuo Department of Hydraulic and Ocean Engineering National Cheng Kung UniversityTainanTaiwan LEMMA R&D Services Sophia AntipolisBiotFrance&Maison de la SimulationGif-sur-YvetteFrance Universit́e Cˆote d’Azur(UCA) LJAD Nice&Inria Sophia Antipolis–ḾediterrańeeFrance Research Center for Applied Sciences Academia SinicaTaipeiTaiwan

This paper is devoted to a multi-mesh-scale approach for describing the dynamic behaviors of thin geophysical mass flows on complex *** the topographic surfaces are generally non-trivially curved,we introduce an appropriate local coordinate system for describing the flow behaviors in an efficient *** complex surfaces are supposed to be composed of a finite number of triangle *** to the unequal orientation of the triangular elements,the distinct flux directions add to the complexity of solving the riemann problems at the boundaries of the triangular ***,a vertex-centered cell system is introduced for computing the evolution of the physical quantities,where the cell boundaries lie within the triangles and the conventional riemann solvers can be ***,there are two mesh scales:the element scale for the local topographic mapping and the vertex-centered cell scale for the evolution of the physical *** final scheme is completed by employing the HLL-approach for computing the numerical flux at the *** numerical examples and one application to a large-scale landslide are conducted to examine the performance of the proposed approach as well as to illustrate its capability in describing the shallow flows on complex topographies.

关键词： Multi-mesh-scale approach complex topography shallow flows unstructured mesh vertex-centered formulation

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