This text describes the development of an efficient approach to the analysis of the dynamics of a rotor with a structure that contains active elements. Since the Ansys software, according to our experience, has limita...
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This paper deals with the tracking problem for a class of uncertain nonlinear systems subjected to actuator saturation constraint. Despite most of proposed control schemes for saturated systems which employed linear i...
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Pursuit formation control of double-integrator Multi-Agent Systems (MASs) is considered in this paper. To achieve a formation, a hierarchical control scheme is proposed in two layers. In the first layer, in a leaderle...
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The purpose of this paper is to optimize dimensions of KNTU 6-DoF cable driven redundant parallel manipulators. This manipulator is under investigation for possible high-speed application such as object manipulator. U...
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ISBN:
(纸本)9781467372350
The purpose of this paper is to optimize dimensions of KNTU 6-DoF cable driven redundant parallel manipulators. This manipulator is under investigation for possible high-speed application such as object manipulator. Usage of cable parallel manipulator depends on kinematic characteristic and control algorithm. This optimization is based on different performance indices including the singularity measure, the kinematic sensitivity, the stiffness and free collision workspace. Stiffness of the cable is also taken into consideration because of its effect on kinematic stiffness of moving platform manipulators performance. Points with cable collision, singular or actuator wrench infeasible configuration characteristic are eliminating from entire workspace.
The advantages of Variable Step Search algorithm - a simple local search-based method of MLP training is that it does not require differentiable error functions, has better convergence properties than backpropagation ...
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In vivo robot is an emerging medical technology that could greatly help biopsy and surgery. This paper proposes to design and develop a miniature in vivo robot for biopsy as an add-on to the current endoscope. To allo...
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System design and development are fundamental capabilities for an engineer. The department of controlengineering at the National Institute of Technology, Nara College, has been offering a course called “Practical Sy...
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ISBN:
(纸本)9781479984558
System design and development are fundamental capabilities for an engineer. The department of controlengineering at the National Institute of Technology, Nara College, has been offering a course called “Practical System Design,” a unique opportunity for students to experience the entire process of developing an autonomous mobile robot, to fourth-year students for about 20 years. However, in recent years, robot design and construction have become a huge challenge for these students. To address this problem, we have worked on improving the engineering program. First, we have introduced a problem-based learning (PBL) education program in all experimental engineering classes in years 1-3. Also, we require students to submit a written report after each class session. This report is intended to help improve the students' schedule management, role-sharing, and work-tracking skills. These reports are reviewed by the relevant course teachers and assessed for logic and quantitative representation. In this paper, we discuss the approach to, achievements of, and future subjects to be taken up by this multi-stage-experience educational program, especially the effect of report-writing.
In this article, a method to obtain spatial coordinate of spherical robot's moving platform using a single camera is proposed, and experimentally verified. The proposed method is an accurate, flexible and low-cost...
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ISBN:
(纸本)9781467372350
In this article, a method to obtain spatial coordinate of spherical robot's moving platform using a single camera is proposed, and experimentally verified. The proposed method is an accurate, flexible and low-cost tool for the kinematic calibration of spherical-workspace mechanisms to achieve the desired accuracy in position. The sensitivity and efficiency of the provided method is thus evaluated. Furthermore, optimization of camera location is outlined subject to the prescribed cost functions. Finally, experimental analysis of the proposed calibration method on ARAS Eye surgery Robot (DIAMOND) is presented;In which the accuracy is obtained from three to six times better than the previous calibration.
This study proposes a method for the fast simulation of the distribution of alternating magnetic fields around internal cracks as well as cracks on the inner and outer diameter surfaces of a pipe. This method, which u...
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