This paper presents uncertainty propagation in landmark based position estimation methods. Analysis of two methods has been carried out where robot position is estimated by detecting one or two globally distinct featu...
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ISBN:
(纸本)9784901122078
This paper presents uncertainty propagation in landmark based position estimation methods. Analysis of two methods has been carried out where robot position is estimated by detecting one or two globally distinct features using a pivoted stereo vision system. We make a basic assumption about error in estimating point features in camera images and propagate it into robot position estimate using first order approximation of non-linear functions. Simulation results illustrate the performance of the method.
Prediction of workpiece-fixture contact forces is important in fixture design since they define the fixture stability during clamping and strongly influence workpiece accuracy during manufacturing. This paper presents...
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The paper addresses feature extraction of sensor data for robot behavior learning using factor analysis. Redundancies in sensor types and quantities are common in sensing competence of robots. The redundancies cause t...
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In this paper, we study the problem of robust regulation for a class of linear uncertain systems which admit the so-called Recursive Augmentation Structure. This structure is known to be quadratically stabilizable and...
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In this paper, we study the problem of robust regulation for a class of linear uncertain systems which admit the so-called Recursive Augmentation Structure. This structure is known to be quadratically stabilizable and is a rich class, including lower-triangular and upper-triangular structures (which correspond to the so-called back-stepping and forwarding in nonlinear control) as special cases. The results of this paper provide conditions on the Recursive Augmentation Structure under which robust regulation can be achieved. Our work differs from existing work on robust regulation for linear systems in the sense that we allow large uncertainties in the system. Our work is also expected to be useful in searching for possible new structures for regulation control of nonlinear systems.
In this paper, we describe a constrained H∞ state feedback controller to stabilize the Rotational/Translational Actuator (RTAC) benchmark problem with L2 disturbance attenuation. The design method requires formulatin...
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In this paper we present a method to optimize the topology of a solid structure based on the theory of phase transition with diffuse interface. A well-known physical model describing phase separation, the Cahn-Hilliar...
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A label is a necessity part of a garment. It is attached to clothing to state the fabric contents, care instructions, and etc. For most of the current label pattern design software, the designer needs to create a new ...
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A label is a necessity part of a garment. It is attached to clothing to state the fabric contents, care instructions, and etc. For most of the current label pattern design software, the designer needs to create a new pattern file for each new label to be produced. This paper presents an "Expert Label Pattern Design System" that is aimed at automating this tedious label pattern design process. The expert system is implemented using Frame-base Expert System. A software, namely "VLabel", is developed for this system using Visual C++ in the Window® environment. The system has been developed and tested by an industrial sponsor, SML Group Limited. It has been proven to work well and used for production in the shop floor now.
Prediction of workpiece-fixture contact forces is important in fixture design since they define the fixture stability during clamping and strongly influence workpiece accuracy during manufacturing. This paper presents...
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In the paper, approach to adaptation ultrasonic bonding process for MEMS WLP is proposed. The results of the welded joint of dissimilar plates simulation are presented. Based on them, dependency between quality of the...
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