Simulation and animation of mechanical systems to enhance student learning was discussed. For this purpose, a program for simulation and animation of mechanical vibration of multi-degree-of-freedom systems with lumped...
详细信息
Simulation and animation of mechanical systems to enhance student learning was discussed. For this purpose, a program for simulation and animation of mechanical vibration of multi-degree-of-freedom systems with lumped masses was developed as a teaching aid and also for the study of transient responses and stability of systems. Another programme developed was a multi document interface (MDI) that presents multiple cam and follower design simultaneously. The use of the computer programs has improved the learning of the students in science and engineering fields greatly, since they can employ their time more efficiently.
From the first ideas of parallel manipulator proposed by Gough and Stewart, parallel manipulators have been found in many industrial applications. In the past two decades, a number of interesting mechanical devices an...
详细信息
From the first ideas of parallel manipulator proposed by Gough and Stewart, parallel manipulators have been found in many industrial applications. In the past two decades, a number of interesting mechanical devices and design methods have been extensively studied. However, most efforts are dedicated to six degrees of freedom (6-DOF) or 3-DOF manipulators. There is a need for equipment providing more than 3 DOF's arranged in parallel and based on simpler arrangements than 6-DOF arrangements in application. This paper presents a novel 4-DOF parallel platform manipulator with base mounted prismatic actuators. The movable platform of the manipulator can translate along two directions and rotate around two axes respectively (2T-2R). The kinematics model is formulated, which describes the inverse and forward kinematics transformation. The singularity analysis of this new 2T-2R, 4-DOF parallel manipulator is introduced.
A decentralized model-based predictive controller is used for the design of discrete-time control systems aiming at regulating the air temperature and heat supply in greenhouses. Moreover, alternative techniques are p...
详细信息
With the inherent advantages of micromachining technologies such as small size, small mass, low cost, low power consumption and high reliability, there will be radical changes to biomedical devices and how clinical di...
详细信息
With the inherent advantages of micromachining technologies such as small size, small mass, low cost, low power consumption and high reliability, there will be radical changes to biomedical devices and how clinical diagnoses are made. One of the most promising applications of microtechnologies is in the biomedical field. This paper presents a low-voltage high-torque MEMS 2D scanner well suited for in vivo biomedical imaging.
From the first ideas of parallel manipulator proposed by Gough and Stewart, parallel manipulators have been found in many industrial applications. In the past two decades, a number of interesting mechanical devices an...
详细信息
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...
详细信息
ISBN:
(纸本)9810474806
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.
Design methods for sequence controllers play an important role in modern industrial automation. The Programmable Logic Controller (PLC) in general meets today's automation requirements. The increasing complexity a...
详细信息
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...
详细信息
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.
Most fuzzy modeling algorithms rely either on simplistic (grid type) or off-line (trial-and-error type) structure identification methods. The proposed neurofuzzy modeling architecture, NeuroFAST, is an on-line, struct...
详细信息
Most fuzzy modeling algorithms rely either on simplistic (grid type) or off-line (trial-and-error type) structure identification methods. The proposed neurofuzzy modeling architecture, NeuroFAST, is an on-line, structure and parameter learning algorithm, featuring high function approximation accuracy. It is based on the first order Takagi-Sugeno-Kang (TSK) model (functional reasoning), where the consequence part of each fuzzy rule is a linear equation of the input variables. Fuzzy rules are allocated as learning evolves by a modified Fuzzy ART (Adaptive Resonance Theory) mechanism, assisted by fuzzy rule splitting and adding procedures (structure learning). The well known /spl delta/-rule continuously tunes learning weights on both premise and consequence parts (parameter identification). Tested on the Box-Jenkins gas furnace process modeling and the Mackey-Glass chaotic time series prediction, NeuroFAST yields very good results in terms of approximation accuracy, outperforming all known approaches.
In some tasks, a rigid robot manipulator handles a long, slender, and flexible tool, which usually has not been equipped with vibration measuring devices. This situation makes a difficult tool tip position control pro...
详细信息
In some tasks, a rigid robot manipulator handles a long, slender, and flexible tool, which usually has not been equipped with vibration measuring devices. This situation makes a difficult tool tip position control problem. In this paper, a new method will be presented for simultaneous tip position and vibration suppression control of a flexible tool on a rigid-link 3-DOF robot. This approach uses fuzzy logic rule-based controllers without using any sensor and actuator on the tool and with no a priori knowledge about the tool. Numerical simulation of robot and tool set has been accomplished and results support the fact that designed fuzzy controllers perform remarkably well in reducing vibrations and precision guidance of robot tool tip for tracking various trajectories.
暂无评论