Model predictive control (MPC) is an optimization-based approach that has been successfully applied to a wide variety of control problems. In most of nonlinear strategies, the controllers are based on linear models wi...
The aim of this paper is to show the usefulness of the multicriteria approach to optimize the Parallel Kinematic Machines (PKM). Variations of the kinematic performances index remain not constant throughout workspace....
An important aspect of system support for mobile computing involves alleviating the issues related to programming the underlying distributed system. Our approach to dealing with these issues is by means of programming...
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We take a step forward towards invasive parallelization of sequential programs, where invasiveness amounts to weaving of parallel code into sequential cores on adaptable composition interfaces. In this paper we sugges...
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In the paper is presented a simulation system for parallel robots, which deals with the robot kinematics, workspace generation, singular position identification and trajectory visualization. The latest obtained result...
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ISBN:
(纸本)3901249850
In the paper is presented a simulation system for parallel robots, which deals with the robot kinematics, workspace generation, singular position identification and trajectory visualization. The latest obtained results demonstrate that from the kinematic model and the graphical simulation the implemented algorithms offer a higher degree of generality. Therefore the developed simulation software modules may be applied to different types of parallel robots with three degrees of freedom. The computing time necessary for generating the virtual model is relatively small.
In this paper a complete equivalent electric circuit for a planar shear piezoelectric accelerometer is presented. Starting from the KLM (Krimholtz-Leedom-Matthaei) approach for a single piezoceramic plate sandwiched b...
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The parallel robots dynamics requires a great deal of computing as regards the formulation of the generally nonlinear equations of motion and their solution. In this paper different solutions for solving the dynamical...
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ISBN:
(纸本)3901249850
The parallel robots dynamics requires a great deal of computing as regards the formulation of the generally nonlinear equations of motion and their solution. In this paper different solutions for solving the dynamical model for the guided in three points parallel robots are presented. The derived dynamical algorithms offer the possibility of a complex dynamic study for these parallel robots in order to evaluate their dynamic capabilities and to generate the control algorithms.
The nonlinear random vibration issues are analyzed by the use of parabolic partial differential equations. Among them, the Fokker-Planck equation is a very powerful tool for obtaining statistical information, because ...
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The nonlinear random vibration issues are analyzed by the use of parabolic partial differential equations. Among them, the Fokker-Planck equation is a very powerful tool for obtaining statistical information, because it is derived on a probabilistic basis and can be formulated to govern random processes in spring-mass mechanical systems. If a single degree-of-freedom (SDOF) mechanical system is excited by wideband random noise, the statistical behaviour for the relative displacement of the mass can be determined by numerical solving the Fokker-Planck equation. A C++ computer program was written for the two-dimensional finite differences method, with initial value conditions. The numerical method is based on an operator splitting technique combined with an alternating-direction implicit (ADI) method. The white noise like signal is substituted by a true-random number generator that gives uniform random deviates, of real number type. For a concrete example with Gaussian distribution initial conditions, several 3D plots are given for the calculated probability density function.
There are many benefits to participating in multi-campus collaborations among project-based design teams. First, students gain experience in working in a distributed design environment, which is becoming more commonpl...
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This paper revisits a problem that was identified by Kramer and Magee: placing a system in a consistent state before and after runtime changes (1990). We show that their notion of quiescence as a necessary and suffici...
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This paper revisits a problem that was identified by Kramer and Magee: placing a system in a consistent state before and after runtime changes (1990). We show that their notion of quiescence as a necessary and sufficient condition for safe runtime changes is too strict and violates the black-box design principle. We introduce a weaker condition, tranquility; easier to obtain, less disruptive for the system and still sufficient to ensure application consistency. We also present an implementation of this concept in a component middleware platform
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