This paper introduces a new type of soft robotic fish driven by a biomimetic propulsor. The propulsor is composed of a soft tail made of silica gel and two controlling wires. The soft tail can complete oscillatory mot...
详细信息
This paper introduces a new type of soft robotic fish driven by a biomimetic propulsor. The propulsor is composed of a soft tail made of silica gel and two controlling wires. The soft tail can complete oscillatory motion by controlling the two wires. The barycenter control mechanism enables the soft robotic fish to float and sink. The kinematics model is built based on Lighthill's elongated body theory. The biomimetic wire-driven soft robotic fish is simple in structure and easy to manipulate. The simulation results show that this soft robotic fish well resembles the real fish swimming body curve and validate the performance of the wire-driven design.
Together with innovations in robot technologies and the emergence of the fourth industrial revolution called Industry 4.0, collaborative robot applications have improved. Collaborative robots are the robots that provi...
详细信息
Together with innovations in robot technologies and the emergence of the fourth industrial revolution called Industry 4.0, collaborative robot applications have improved. Collaborative robots are the robots that provide the safe handling of many processes such as assembly, pick and place, palletizing in factories. The reliability analysis of the system has great importance in order to determine the failure conditions and failure possibilities that will occur in the systems enabling these operations. In this study, reliability analysis of assembly processes performed by human-robot interaction is presented. The reliability block diagram of the system is created and the reliability value of the system over time is determined. Then, Markov model indicating the fault conditions in the system is created and the probability of occurrence of these fault conditions is determined. The results show that if the system operates continuously for five years, the reliability will drop below 10% and the reasons that decrease the reliability are discussed in the last section.
Object control requires the calculation of a regulator. One of the most effective methods for calculating the regulator is the method of numerical optimization of the regulator. This paper discusses the solution of th...
详细信息
In this paper, a distributed robust energy management scheme for multiple interconnected microgrids (MGs) is developed. It aims to optimize the total operational cost of the MGs through energy trading with neighboring...
In this paper, a distributed robust energy management scheme for multiple interconnected microgrids (MGs) is developed. It aims to optimize the total operational cost of the MGs through energy trading with neighboring MGs and the main grid in the real-time energy market. Various uncertainties including renewable generation, load consumption, and buying/selling prices of the main grid are handled using an adjustable robust optimization technique. To keep consistent with the distributed nature of the multiple MGs, we propose a distributed adjustable robust optimal scheduling algorithm (DAROSA). Within the framework, each MG energy management system determines its own selling price and operation schedule via distributed communication of non-critical information with its neighboring MGs. Robust optimal scheduling and fair energy trading can be collectively achieved. A case study of a 4-MG system is conducted to validate the effectiveness of the proposed approach.
The central aim of this research is to propose a solution to rehabilitate historic places using a robotic manipulator. In this pursuit, the objective is to clean flat or curved surfaces of mihrab/muqarnas and to write...
The central aim of this research is to propose a solution to rehabilitate historic places using a robotic manipulator. In this pursuit, the objective is to clean flat or curved surfaces of mihrab/muqarnas and to write lost Arabic inscriptions on spandrel using 7 Degree of freedom (DOF) robotic manipulator. Inverse kinematics solution for 7 DOF is derived by fixing redundant joint and solving the remaining 6 DOF inverse kinematics. Image processing techniques are used to get data from the given image for the robotic calligraphy operation on the spandrel to restore the lost inscriptions. Path planning exercise is implemented to navigate the end-effector on the desired path to write lost inscriptions and to clean curved surfaces of muqarnas. Proposed solutions are verified by simulation using MATLAB. The results showed that the manipulator successfully tracked the given path to perform the desired operation in mihrab as well as calligraphy operation on spandrel.
In this paper, an adaptive controller is proposed for attitude and altitude control of a quadrotor. First, mathematical and dynamic models of a quadrotor are analyzed. Next, PID and LQR controllers are designed separa...
详细信息
Since proportional-integral-derivative (PID) controllers absolutely dominate the controlengineering, numbers of different control structures and theories have been developed to enhance the efficiency of PID controlle...
详细信息
Digital quadruplets aiming to improve road safety, traffic efficiency and driving cooperation for future connected automated vehicles are proposed with the enlightenment of ACP based parallel driving. The ACP method d...
详细信息
Parallel driving is a novel framework to synthesize the vehicle intelligence and transport automation. This article aims to define the digital quadruplets in parallel driving. In the cyber-physical-social systems (CPS...
详细信息
In this paper, an Accelerometer optimization arrangement method based on Structural Damage Identification (SDI) is proposed. Firstly, the method constructs a fitness function according to the selection of the optimal ...
详细信息
暂无评论