检索结果-内蒙古大学图书馆

自动化学报 2010年第12期36卷 1711-1719页

作者： BEIGZADEH Borhan MEGHDARI Ali SOHRABPOUR Saeed Center of Excellence in Design Roboticsand Automation(CEDRA)Mechanical Engineering DepartmentSharif University of Technology

In this work,we introduce a category of dynamic manipulation processes,namely passive dynamic object manipulation,according to which an object is manipulated ***,we study passive dynamic manipulation *** define the main concept,discuss the challenges,and talk about the future *** other passive robotic systems,there are no actuators in these *** object follows a path and travels along it under the effect of its own weight,as well as the interaction force applied by each manipulator on *** select some simple examples to show the *** each example,dynamic equations of motion are derived and the stability of the process is taken into *** this direction,some rules are derived under which we ensure that the manipulation process does not *** support this idea.

关键词：自动化仿真 PDM DNM

来源：评论

学校读者我要写书评

暂无评论

A cooperation scenario for multiagent systems

A cooperation scenario for multiagent systems

引用

AFRICON Conference

作者： Claudiu Pozna Radu-Emil Precup László T. Kóczy Nicusor Minculete Áron Ballagi Department of Informatics Széchenyi István University Gyor Hungary Department of Production Design and Robotics Transilvania University of Brasov Brasov Romania Faculty of Engineering Sciences Széchenyi István University Gyor Hungary Department of Telecommunications and Media Informatics BUTE Budapest Hungary Department of Automation and Applied Informatics Politehnica University of Timisoara Timisoara Romania Faculty of International Economic Relations Dimitrie Cantemir University of Brasov Brasov Romania Department of Automation Széchenyi István University Gyor Hungary

This paper gives aspects related to a cooperation scenario in the framework of multiagent systems. The presentation is focused on a trivial multiagent system that consists of two agents, the Master and the Apprentice. The theoretical basis of the cooperation scenario is the definition of the most probable process, and two algorithms are used with this regard. The formulation of the cooperation scenario is exemplified for a case study that builds an architecture of successively placed bricks in the workspace.

关键词： Multiagent systems Entropy Educational institutions Conferences Architecture Probabilistic logic Buildings

来源：评论

学校读者我要写书评

暂无评论

H∞ Robust control of continuous fluidized tea bed dryer

H∞ Robust control of continuous fluidized tea bed dryer

引用

ASME 2009 International Mechanical engineering Congress and Exposition, IMECE2009

作者： Moradl, Hamed Hajikolaei, Kambiz Haji Motamedi, Mohammad Vossoughi, G. Reza Center of Excellence in Design Robotics and Automation Department of Mechanical Engineering Sharif University of Technology Azadi St Tehran Iran

ISBN: (纸本)9780791843833

During drying processes, moisture control of food products, such as dried tea, is of great importance. Improving dryer control, results in consistent production and reduction of energy consumption. However, the dryer is a complex system associated with model uncertainties. In this paper, a realistic uncertain model of a fluidized tea bed dryer is considered. Moisture content and temperature of tea leaves (or other products) are controlled at desired values by manipulating tea leaves heating rate. Developing a code by Robust Control Toolbox of MATLAB and modeling uncertainties, a robust controller is designed based on ′-synthesis with DK-iteration algorithm. Results show that in the presence of model uncertainties, designed controller guarantee robust performance of the system: with appropriate behavior in tracking desired set points. Copyright ©2009 by ASME.

关键词： MIMO systems

来源：评论

学校读者我要写书评

暂无评论

A new principle of controlling contact forces in interactive grasping simulation

A new principle of controlling contact forces in interactive...

引用

作者： Rusák, Zoltán Antonya, Csaba Horváth, Imre Faculty of Industrial Design Engineering Delft University of Technology Netherlands Product Design and Robotics Department Transilvania University of Brasov Romania

ISBN: (纸本)9789051550603

The paper proposes a new method to interactively simulate grasping of virtual product concepts with the goal to evaluate the contact forces between the hand and product as well as the load on the human arm. Interaction between product concepts and the users happens in a virtual environment, where the user controls a virtual hand interactively. The contact between the virtual hand is simulated and visual feedback is provided to the user. Controlling the virtual hand interactively in real time holds many challenges. One of the biggest challenges is mapping the motion of the user to contact forces, which then results in stable grasping of objects. In this paper we present a new approach to convert and map the measured position of the real hand into contact forces so that the contact between the virtual hand and the object remains stable. Our approach applies a multi-objective optimization that takes into account the posture and anthropometric properties of grasping, as well as the penetration of the hand in the grasped object in order to find the optimal arrangement of contact forces. The paper reports on the on the principle of our grasping control approach as well as on some test cases to show the advantages and disadvantages. © Organizing Committee of TMCE 2010 Symposium.

关键词： Multiobjective optimization

来源：评论

学校读者我要写书评

暂无评论

Intelligent diagnostic health management of power transmission systems: An experimental validation

引用

International Journal of COMADEM 2010年第2期13卷 46-58页

作者： Onsy, Ahmed Bicker, Robert Shaw, Brian Mechatronics Group and Design Unit Stephenson Building Newcastle University NE1 7RU United Kingdom School of Mechanical and Systems Engineering United Kingdom Department of Robotics Group School of Mechanical and Systems Engineering United Kingdom Design Unit Gear Technology Centre School of Mechanical and Systems Engineering British Gear Association United Kingdom

Power transmissions are one of the most important parts of any mechanical system, and in order to achieve reliable operation robust and effective maintenance strategies must be used to trace the condition of the operating transmission, classifying faults, and predicting the onset of failure. This paper presents a novel intelligent diagnostic health management system that is able to monitor different gear faults by combining vibration, acoustic emission, and oil debris analysis with fuzzy logic sensory fusion algorithms. An intelligent diagnostic health management system (IDHMS) has been implemented on a back-to-back gearbox and can be adapted to monitor the behaviour of transmission systems in automotive, aircraft, wind turbine, and industrial machinery. The study describes the operation of the online IDHMS under variable conditions and its ability in detecting transmission gear defects and thus preventing sudden unexpected failures. The results support the recent trend in using IDHMSs in CBM strategies. © 2010 COMADEM International.

关键词： Fuzzy logic

来源：评论

学校读者我要写书评

暂无评论

Investigation of the oscillatory behavior of electrostatically-Actuated microbeams

Investigation of the oscillatory behavior of electrostatical...

引用

ASME 2010 International Mechanical engineering Congress and Exposition, IMECE 2010

作者： Mojahedi, Mahdi Zand, Mahdi Moghimi Ahmadian, Mohammad Taghi School of Mechanical Engineering Sharif University of Technology Tehran Iran Department of Mechanical Engineering Center of Excellence in Design Robotics and Automation Sharif University of Technology Tehran Iran

ISBN: (纸本)9780791844472

Vibrations of electrostatically-Actuated microbeams are investigated. Effects of electrostatic actuation, axial stress and midplane stretching are considered in the model. Galerkin's decomposition method is utilized to convert the governing nonlinear partial differential equation to a nonlinear ordinary differential equation. Homotopy perturbation method (i.e. a special and simpler case of homotopy analysis method) is utilized to find analytic expressions for natural frequencies of predeformed microbeam. Effects of increasing the voltage, midplane stretching, axial force and higher modes contribution on natural frequency are also studied. The anayltical results are in good agreement with the numerical results in the literature. Copyright © 2010 by ASME.

关键词： Natural frequencies

来源：评论

学校读者我要写书评

暂无评论

Visual motion observer-based pose control with panoramic camera via passivity approach

Visual motion observer-based pose control with panoramic cam...

引用

作者： Kawai, Hiroyuki Murao, Toshiyuki Fujita, Masayuki Department of Robotics Kanazawa Institute of Technology Ishikawa 921-8501 Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Tokyo 140-0011 Japan Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo 152-8550 Japan

ISBN: (纸本)9781424474264

This paper considers the vision-based estimation and control with a panoramic camera via passivity approach. First, a hyperbolic projection of a panoramic camera is presented. Next, using standard body-attached coordinate frames (the world frame, mirror frame, camera frame and object frame), we represent the body velocity of the relative rigid body motion (position and orientation). After that, we propose a visual motion observer to estimate the relative rigid body motion from the measured camera data. We show that the estimation error system with a panoramic camera has the passivity which allows us to prove stability in the sense of Lyapunov. After that, stability and L 2-gain performance analysis for the closedloop system are discussed. Finally, simulation and experimental results are shown in order to confirm the proposed method. © 2010 AACC.

关键词： Cameras

来源：评论

学校读者我要写书评

暂无评论

Passive Dynamic Object Manipulation: Preliminary Definition and Examples

引用

Acta Automatica Sinica 2010年第12期36卷 1711-1719页

作者： Borhan BEIGZADEH Ali MEGHDARI Saeed SOHRABPOUR Center of Excellence in Design Robotics and Automation (CE-DRA) Mechanical Engineering Department Sharif University of Technology Tehran Iran

In this work, we introduce a category of dynamic manipulation processes, namely passive dynamic object manipulation, according to which an object is manipulated passively. Specifically, we study passive dynamic manipulation here. We define the main concept, discuss the challenges, and talk about the future directions. Like other passive robotic systems, there are no actuators in these systems. The object follows a path and travels along it under the effect of its own weight, as well as the interaction force applied by each manipulator on it. We select some simple examples to show the concept. For each example, dynamic equations of motion are derived and the stability of the process is taken into account. In this direction, some rules are derived under which we ensure that the manipulation process does not fail. Simulations support this idea.

关键词： Passive systems dynamic manipulation passive manipulation robotic system

来源：评论

学校读者我要写书评

暂无评论

Takagi-Sugeno fuzzy controller for a magnetic levitation system laboratory equipment

Takagi-Sugeno fuzzy controller for a magnetic levitation sys...

引用

IEEE International Joint Conferences on Computational Cybernetics and Technical Informatics, ICCC-CONTI 2010

作者： Dragos, Claudia-Adina Preitl, Stefan Precup, Radu-Emil Bulzan, Raul-Gherasim Pozna, Claudiu Tar, Jozsef K. Politehnica University of Timisoara Timisoara Romania Department of Product Design and Robotics Transilvania University of Brasov Brasov Romania Faculty of Engineering Széchenyi István University Gyor Hungary Institute of Intelligent Engineering Systems Obuda University Budapest Hungary

ISBN: (纸本)9781424474332

This paper presents the design and the implementation of two control solutions applied to a magnetic levitation system laboratory equipment. The first solution deals with a state feedback control structure to stabilize the controlled plant which is the inner control loop for the cascade control system structure proposed as the second solution. The second solution is based on a TakagiSugeno fuzzy controller in the outer control loop to ensure the zero steady-state control errors. Simulation and real time experimental results are included to illustrate the performance of the control systems and to validate the two control solutions in regulation and tracking. © 2010 IEEE.

关键词： Controllers

来源：评论

学校读者我要写书评

暂无评论

Modeling of Tail Dynamic Behavior and Trajectory Control of a Fish-Robot Using Fuzzy Logic

Modeling of Tail Dynamic Behavior and Trajectory Control of ...

引用

IEEE International Conference on robotics and Biomimetics

作者： A. R. Alamdar M. R. Dehghani A. Alasty Center of Excellence in Design Robotics and Automation (CEDRA) Department of Mechanical Engineering Sharif University of Technology

ISBN: (纸本)9781424493197

To have a complete model of a thunniform Fish-Robot, models of both body and tail are required. The dynamic model of the body is developed according to the parameters of a thunniform Fish-Robot built in MIT University, while, as the main part of this paper, the dynamic model of the tail is developed using fuzzy logic. Using experimental data and table look-up scheme, a fuzzy black box is introduced that gives the value of thrust force generated for any value of the Fish-Robot's input parameters: frequency of tail oscillation, amplitude of tail oscillation and speed of the Fish-Robot. In the second part, a trajectory fuzzy controller is designed for the Fish-Robot. The output of trajectory controller is force but the desired parameters to actuate the tail are frequency and amplitude. Therefore subtractive clustering method is used on the results of previous fuzzy black box to generate a fuzzy inference system. This system generates operational values of frequency and amplitude of oscillation for any force required. Control goals are achieved by putting the three units in a closed loop system.

关键词： Fuzzy logic control Look-up table scheme Fish-Robot AUV Trajectory control

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：