Underwater robotic vehicles (URV) have been employed for mobility, and robot manipulators attached to the underwater vehicle play the role of manipulation. URV motions are determined by inherent dynamic couplings betw...
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Underwater robotic vehicles (URV) have been employed for mobility, and robot manipulators attached to the underwater vehicle play the role of manipulation. URV motions are determined by inherent dynamic couplings between active and passive joints. Furthermore, the control problem becomes complex since there should be considered many hydrodynamic terms as well as intrinsic model uncertainties. To cope with these difficulties, we propose a disturbance observer-based robust control algorithm for underwater manipulators with passive joints. The proposed control algorithm is able to treat an underactuated system as a pseudo-active system in which passive joints are eliminated. Also, to realize a robust control method, a nonlinear feedback disturbance observer is applied to each active joint. A four-jointed underwater robotic system with one passive joint is considered as an illustrative example. Through simulation, it is shown that the proposed control algorithm has good position tracking performances even in the presence of several external disturbances and model uncertainties.
A new stiffness adaptation and force regulation methodology using hybrid system approach for constrained robots is presented. We present the hybrid system model and the hybrid systemcontrol synthesis for constrained ...
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A new stiffness adaptation and force regulation methodology using hybrid system approach for constrained robots is presented. We present the hybrid system model and the hybrid systemcontrol synthesis for constrained robots with the stiffness uncertainties is formulated. The hybrid control approach presented has shown to be a very effective strategy to incorporate both the continuous and discrete natures of constraint motion. A nonlinear stiffness function is developed and designed to be hybrid automaton, which consists of some abstracted motion such as increase, decrease, and maintenance of stiffness. The evaluations are evaluated via experimental studies on grinding tasks. The results of experiment are showing the applicability of proposed scheme for constrained tasks.
Addresses the design of hybrid controlsystems for the motion control of wheeled mobile robot systems with nonholonomic constraints. The hybrid controlsystem has a 3-layered hierarchical structure: digital automata f...
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ISBN:
(纸本)0780344650
Addresses the design of hybrid controlsystems for the motion control of wheeled mobile robot systems with nonholonomic constraints. The hybrid controlsystem has a 3-layered hierarchical structure: digital automata for the higher process, mobile robot system for the lower process, and the interface as the interaction process between the continuous dynamics and the discrete dynamics. In the hybrid control architecture of mobile robot, the continuous dynamics of mobile robots are modeled by switched systems. The abstract model and digital automata for the motion control are developed. The motion control tasks for desired-paths with edges and dynamic path following with various initial conditions are investigated as the applications by simulation studies.
作者：
STIMSON, WAMARTINEZ, EWilliam A. Stimson:received his B.S. degree in mathematics from the University of Texas at El Paso in 1964
and his M.S. degree in engineering from the University of Santa Clara in 1971. Mr. Stimson was employed in the aerospace industry for ten years then joined the Naval Ship Weapon Systems Engineering Station in Port Hueneme Calif in 1973. At NSWSES he served ten years as a ship qualification trials project supervisor and seven years as program manager of the Master Ordnance Repair Program. Today Mr. Stimson lives in Charlottesville Va. and is a Ph.D candidate in systems engineering at the University of Virginia majoring in quality management and statistical quality control. Ernest Martinez:received his B.S. degree in computer sciences from National University in 1985. Mr. Martinez was head of combat systems at the Naval Ship Repair Facility
Yokosuka Japan for five years returning in 1983 to the Naval Sea Support Center Pacific San Diego Calif. During the next five years he managed the Fleet Modernization Program and was coordinator of the Combat System Readiness Test Program. Today Mr. Martinez lives in San Diego and is employed by the Naval Surface Warfare Center Port Hueneme Calif. as MOR program manager.
Because of the redefinition of national defense needs and the reduction of defense budgets, the management of complex combatant repair is more imperative than ever. To this end, the U.S. Navy is calling for Total Qual...
Because of the redefinition of national defense needs and the reduction of defense budgets, the management of complex combatant repair is more imperative than ever. To this end, the U.S. Navy is calling for Total Quality Leadership (TQL) strategies from its agencies and contractors. These strategies are derived from well known initiatives of quality management, such as those of Deming. They define the basis of any quality program. Quality methodologies have proven highly effective in the manufacturing sector, but many remain unproven or tentative in service and repair industries. The authors believe that TQL methods can be effective in the repair industry also, but must be developed or adapted to suit the unique characteristics of that industry: high skill, non-rote crafts, with continual customer interface at all levels of operation. In establishing a direction for TQL development, the authors have chosen two elements. The first is the Malcolm Baldrige Quality Improvement Program, which provides guidelines for direction. The second is the Master Ordnance Repair (MOR) Program, which provides the management vehicle. From its beginning in 1983, MOR has been a program of management. The task is explicit in its charter, NAVSEAINST 8000.2, which requires that a MOR contractor manage combat system work and testing. Quality management methods are applied to the MOR program to achieve MOR objectives using Baldrige measurements. Methods are presented which deploy the quality function across the organization. Techniques are provided to improve the company's ability to control its processes and the robustness of its product. These include methods of process analysis that determine added value, ownership, and internal customer. Stress is placed on in-process verification rather than on end-of-process inspection. The recommendations of this paper require no extraordinary skills or costs, but do require a formal and systematic approach to quality issues. The authors believe that
作者：
Djukanovic, M.B.Sobajic, D.J.Pao, Y.‐H.Miodrag B. Djukanovic (1959) received his B.S.
M.Sc. and Ph.D. degrees in Electrical Engineering from the University of Belgrade/Yugoslavia in 1982 1985 and 1992 respectively specializing in electric power systems. In 1984 he joined the Electrical Engineering Institute “Nikola Tesla” in Belgrade where he was working on the scientific studies in the field of power systems planning operation and control. In 1985 and 1990 he was appointed as a research scholar at the Royal Institute of Technology Stockholm and Case Western Reserve University Cleveland Ohio. His major in- terests are in the area of power system analysis steady-state and dynamic security and application of neural networks in electric power systems. (Electrical Engineering Institute “Nicola Tesla” ul. Koste Glavinica 8A YU-11000 Belgrad T +3811/2351-619 Fax + 3811/2351-823) Dejan J. Sobajic (1949) received the B.S.E.E. and the M.S.E.E. degrees from the University of Belgrade/Yugoslavia in 1972 and 1976
respectively and the Ph.D. degree from Case Western Reserve University Cleveland Ohio in 1988. At present he is with the Department of Electrical Engineering and Applied Physics Case Western Reserve University Cleveland. He is also the Engineering Manager of A1 WARE Inc. Cleveland. His current research interests include power system operation and control neuralnet systems and adaptive control. He is a member of the IEEE Task Force on Neural-Network Applications in Power Systems and of the IEEE Intelligent Controls Committee. He is the Chairman of the International Neural-Networks Society Special Interest Group on Power Engineering. (Case Western Reserve University Department of Electrial Engineering and Computer Sciences Glennan Building Ohio 44 106 USA T + 1216/421-2380 Fax +1216/368-8776) Yoh-Han Pao (1922) has been a Professor of Electrical Engineering and Computer Science at Case Westem Reserve University (CWRU)
Cleveland Ohio since 1967. He has served as chairman of the University's Electrical Engineering Department
The Transient Energy Function (TEF) method has been intensely investigated over the last decade as a reliable and accurate tool for transient stability assessment of multimachine power systems. In this paper we propos...
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