A unifying one-step prediction observer (identifier) for system parameter estimation or identification of autoregressive moving average (ARMA) processes will be developed. Four specific algorithms can be derived from ...
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A unifying one-step prediction observer (identifier) for system parameter estimation or identification of autoregressive moving average (ARMA) processes is developed. Four specific algorithms can be derived from the u...
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A unifying one-step prediction observer (identifier) for system parameter estimation or identification of autoregressive moving average (ARMA) processes is developed. Four specific algorithms can be derived from the unifying algorithm. The properties of the four algorithms developed are investigated.
A unifying one-step-ahead prediction observer (identifier) for system parameter estimation or identification of autoregressive moving average (ARMA) processes has been developed. Four specific algorithms can be derive...
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A unifying one-step-ahead prediction observer (identifier) for system parameter estimation or identification of autoregressive moving average (ARMA) processes has been developed. Four specific algorithms can be derived from the unifying algorithm. The properties of the four algorithms developed will be investigated.
Recent developments in the Internet have significantly increased the human capability to reach and obtain information from remote locations. In parallel, the advent of micro sensors and actuators makes it possible for...
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ISBN:
(纸本)0780367367
Recent developments in the Internet have significantly increased the human capability to reach and obtain information from remote locations. In parallel, the advent of micro sensors and actuators makes it possible for humans to sense and act in a microenvironment. Combined, the Internet and MEMS will produce a new technology for humans to sense and act in remote microenvironments, allowing the potential development of micro teleoperation and micro automation technologies. These new technologies have potential impact on several fields, including remote micro automation and biomedical engineering. In this paper, we will present our ongoing development of polyvinylidene fluoride (PVDF) sensors that can be used for force-reflective control of micromechanical devices over the Internet. Internet based teleoperation between Hong Kong and Michigan State was demonstrated using an event-based control scheme, which ensured stability and synchronization. Control was enhanced by multimedia feedback, which included, in addition to the traditional video, force feedback. The force fed back augmented the limited information supplied by visual feedback. We believe this project will eventually make a great impact to the globalization of MEMS foundries because it will allow global users to micro-assemble and micro-manipulate surface micromachined devices from their laboratories, and hence, reduce the time from design to production significantly.
Robotic operations carried out via the Internet face several challenges and difficulties. These range from human-computer interfacing and human-robot interaction to overcoming random time delay and task synchronizatio...
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ISBN:
(纸本)0780365763
Robotic operations carried out via the Internet face several challenges and difficulties. These range from human-computer interfacing and human-robot interaction to overcoming random time delay and task synchronization. These limitations are intensified when multi-operators at multisites are collaboratively teleoperating multirobots to achieve a certain task. In this paper, a new modeling and control method for Internet-based cooperative teleoperation is developed. Combining Petri net model and event-based planning and control theory, the new method provides an efficient way to model the concurrence and complexity of the Internet-based cooperative teleoperation. It also provides an efficient analysis tool to study the stability, transparency and synchronization of the system. Furthermore, the new modeling and control method enables us to design an Internet-based cooperative telerobotic system that is reliable, safe and intelligent. This new method has been experimentally implemented in a three site test bed consisting of robotic laboratories in the USA, Hong Kong and Japan. The experimental results have verified the theoretical development and further demonstrated the advantages of the new modeling and control method.
A new parallel gripping mechanism is proposed in this work. This device has a parallelogramic platform which can be flexibly folded. Therefore, this mechanism not only can be used to grasp an object having irregular s...
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A new parallel gripping mechanism is proposed in this work. This device has a parallelogramic platform which can be flexibly folded. Therefore, this mechanism not only can be used to grasp an object having irregular shape or large volume, but also can be utilized as micro-positioning device after grasping the object. Forward position analysis and platform kinematics are investigated to deal with motion tracking and force control. Pneumatic rotator is employed for actuation and a compact sized, 4/3 way proportional pressure valve is also developed to deal with feedback-based dynamic control. The pressure valve also allows indirect force control by measuring the offset pressure occurring due to contact between the grasped object and the parallel platform. In experimental work, performances of the motion tracking and indirect force control are shown satisfactory.
The e-world, also known as the Internet, has added a new dimension to many of the traditional concepts in industrial applications and everyday life. The use of robots has dramatically expanded the potential of e-servi...
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The e-world, also known as the Internet, has added a new dimension to many of the traditional concepts in industrial applications and everyday life. The use of robots has dramatically expanded the potential of e-services. Individuals with particular expertise can perform highly accurate and fairly complicated tasks remotely via the Internet. This increase in the human reachability is faced by several obstacles. Reliable and efficient robot facilitated services via the Internet face several challenges. These range from human-computer interfacing and overcoming random time delay to task synchronization and human-robot interaction. These limitations intensify when many operators in many sites are involved. This paper provides new theoretical and experimental results on these challenges. Specifically, multisite cooperative control of an Internet based mobile manipulator is presented. The two main characteristics of this system are Internet based real-time closed loop control and coordinated operation. In addition, it is shown that despite random time delay the stability and synchronization of the system were achieved using event-based control.
Parallel mechanisms frequently contain an unstable type of singularity that has no counterpart in serial mechanisms. When the mechanism is at or near this type of singularity, it loses the ability to counteract extern...
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Parallel mechanisms frequently contain an unstable type of singularity that has no counterpart in serial mechanisms. When the mechanism is at or near this type of singularity, it loses the ability to counteract external forces in certain directions. By altering the mechanism through, for example, additional kinematic linkages, the singularity can be modified or even removed. Another approach is to actuate certain unactuated degrees of freedom. The manipulability is guaranteed to improve over the original mechanism, but the mechanism is now over-actuated. By studying a recently proposed parallel machining center, we examine the effectiveness of singularity modification through redundant actuation. As a metric, we use the condition number of the recently developed manipulability ellipsoid for general parallel mechanisms.
Ultrasonic range sensors are used to obtain the information required for collision-free navigation of a mobile robot in a semi-structured or unstructured environment. A set of range readings from a ring of sonars are ...
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Extends the kinematic manipulability concept commonly used for serial manipulators to general constrained rigid multibody systems. Examples of such systems include multiple cooperating manipulators, multiple fingers h...
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Extends the kinematic manipulability concept commonly used for serial manipulators to general constrained rigid multibody systems. Examples of such systems include multiple cooperating manipulators, multiple fingers holding a payload, multi-leg walking robots, and variable geometry trusses. Explicit formulas for velocity and force manipulability ellipsoids are derived and their duality explained. The concept of unstable grasp and manipulable grasp are also extended and illustrated with examples.
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