This paper presents the application of a new method for controlling the formation flight of Unmanned Aerial Vehicles. Proposed algorithm is based on the leader follower configuration and uses the potential field to de...
This paper presents the application of a new method for controlling the formation flight of Unmanned Aerial Vehicles. Proposed algorithm is based on the leader follower configuration and uses the potential field to determinate desired heading for the follower UAV. Synthesis of the vector field control algorithm is closely described and presented in details. Proposed control system was carefully checked and verified during Hardware in The Loop (HIL) tests. During the HIL flights the longitudinal and lateral positions of the UAVs (Leader and Follower), orientation angles (pitch, roll, yaw), angular velocities (pitch rate, roll rate, yaw rate) and many other flight parameters were stored and logged. Obtained results validate the effectiveness of the potential field based formation flight control method.
A concept of the porous core electromagnet is studied. The form for the electromagnet core was printed using 3D technique. The core was manufactured manually using iron filings and cured in room temperature and air pr...
A concept of the porous core electromagnet is studied. The form for the electromagnet core was printed using 3D technique. The core was manufactured manually using iron filings and cured in room temperature and air pressure. The aim of this paper is to deliver initial analysis of the proposed powder core together with the modelling procedure by the using finite element method, and to compare the experimental results of the manually manufactured electromagnet. The material property of the numerical model was adjusted to fit the experimental results. Finally, the electromagnet was tested in the levitation real–time experiment.
The quest for life on other planets is closely connected with the search for water in liquid state. Recent discoveries of deep oceans on icy moons like Europa and Enceladus have spurred an intensive discussion about h...
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ISBN:
(纸本)9781728102542
The quest for life on other planets is closely connected with the search for water in liquid state. Recent discoveries of deep oceans on icy moons like Europa and Enceladus have spurred an intensive discussion about how these waters can be accessed. The challenge of this endeavor lies in the unforeseeable requirements on instrumental characteristics both with respect to the scientific and technical methods. The TRIPLE/nanoAUV initiative is aiming at developing a mission concept for exploring exo-oceans and demonstrating the achievements in an earth-analogue context, exploring the ocean under the ice shield of Antarctica and lakes like Dome-C on the Antarctic continent.
The quality of a diagnostic system strongly depends on the availability of appropriate measurements. In this work sensor placement method using Graph of a Process is introduced. Graph of a Process is a formalization o...
The quality of a diagnostic system strongly depends on the availability of appropriate measurements. In this work sensor placement method using Graph of a Process is introduced. Graph of a Process is a formalization of a causal graph useful in fault diagnosis. Faults are directly incorporated into the model. The necessary and sufficient conditions for fault detectability and isolability are formulated. The analysis is divided into acyclic graph search and calculations within strongly connected components. This method is applicable to the design of the instrumentation of diagnostic systems, when the analytical process model is unavailable.
The aim of this paper is to formulate the weak maximum principle for hybrid optimal control problems. We give definitions of a hybrid system and a hybrid state trajectory. These definitions are kept at an equation-bas...
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The aim of this paper is to formulate the weak maximum principle for hybrid optimal control problems. We give definitions of a hybrid system and a hybrid state trajectory. These definitions are kept at an equation-based level, to make the analysis helpful while constructing an appropriate numerical procedure. We then define an optimal control problem for a hybrid system. Next, we analyze the perturbations of a hybrid state trajectory in response to variations of a control function. We build first order approximations to the trajectory perturbations and utilize them to approximate the variations of cost and constraint functionals in the optimal control problem. Finally, we introduce the adjoint variables, which enables to formulate the weak maximum principle in an elegant way. We also give some remarks concerning a construction of a numerical procedure for hybrid optimal control problems.
This paper introduces the concept of Modular Hydraulic Propulsion, in which a modular robot that operates in a fluid environment moves by routing the fluid through itself. The robot's modules represent sections of...
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ISBN:
(纸本)9781467380270
This paper introduces the concept of Modular Hydraulic Propulsion, in which a modular robot that operates in a fluid environment moves by routing the fluid through itself. The robot's modules represent sections of a hydraulics network. Each module can move fluid between any of its faces. The modules (network sections) can be rearranged into arbitrary topologies. We propose a decentralized motion controller, which does not require modules to communicate, compute, nor store information during run-time. We use 3-D simulations to compare the performance of this controller to that of a centralized controller with full knowledge of the task. We also detail the design and fabrication of six 2-D prototype modules, which float in a water tank. Results of systematic experiments show that the decentralized controller, despite its simplicity, reliably steers modular robots towards a light source. Modular Hydraulic Propulsion could offer new solutions to problems requiring reconfigurable systems to move precisely in 3-D, such as inspection of pipes, vascular systems or other confined spaces.
In the paper the nonlinear control strategy based on feedback linearization for nonlinear active magnetic bearing (AMB) system is discussed. In this context, self-sensing AMB dynamics, in affine-form is investigated. ...
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In the paper the nonlinear control strategy based on feedback linearization for nonlinear active magnetic bearing (AMB) system is discussed. In this context, self-sensing AMB dynamics, in affine-form is investigated. The extended relative degree of AMB dynamics model is considered. Since AMB system is strongly nonlinear a modification of the classical geometric control linearization is used. Numerical simulations are carried out to verify the theoretical approach.
This paper presents an application of the active disturbance rejection control approach for humanoid robot stable walking, which is a control strategy based on the extended state observer and cascade integrator canoni...
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This paper presents an application of the active disturbance rejection control approach for humanoid robot stable walking, which is a control strategy based on the extended state observer and cascade integrator canonical form features from modern control theory to deal with disturbances, nonlinearities and unmodeled dynamics. The proposed controller is based on the 3D linear inverted pendulum walking pattern generation, and is designed to be triggered only if disturbance signals are detected. This control technique was tested on the model of a humanoid robot using numerical simulation software, showing successful results that motivate to implement it in a real humanoid robot platform.
This paper presents the new laboratory test rig of the vertical axis flexible shaft supported by two active magnetic bearings. Behind the motivation of establishing this setup is the control of vibration modes of the ...
This paper presents the new laboratory test rig of the vertical axis flexible shaft supported by two active magnetic bearings. Behind the motivation of establishing this setup is the control of vibration modes of the flexible rotor - shaft assembly, while the rotational speed varies and the unbalanced mass on the whirling disc is introduced to the system. The proposed model is aimed to simulate real operation conditions of the rotating machinery with an applied external load, with a variable structure caused by a change of material properties of the rotor - shaft assembly, or due to a fault of some elements coupled with the rotor.
The subject of the article is a simulation of heat affected components of a device for deep drawing by extreme conditions in vacuum by high temperatures required for forming of crystallization containers made from thi...
The subject of the article is a simulation of heat affected components of a device for deep drawing by extreme conditions in vacuum by high temperatures required for forming of crystallization containers made from thin molybdenum sheets. The simulation is focused on the distribution of heat in particular components in relation with their shape. There are presented the design of working components and the boundary conditions of transient thermal simulations with the results.
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