Recently, the Aerial Manipulation System becomes very attractive for a wide range of applications due to its unique features. However, control of such system is quite challenging. One of the critical challenge is that...
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ISBN:
(纸本)9781509009374
Recently, the Aerial Manipulation System becomes very attractive for a wide range of applications due to its unique features. However, control of such system is quite challenging. One of the critical challenge is that this system is very susceptible to actuators' faults. In this paper, a Passive Fault Tolerant Control System is proposed to address this issue with robust and optimal performance. The robustness is achieved using a linear Disturbance Observer (DOb) loop. Based on the linearization capability of DOb, a standard Model Predictive Control (MPC) is then used and the resulting control scheme is characterized by both a low computational load and optimal actuators' efforts with respect to conventional nonlinear robust solutions. This controller is tested to achieve the tracking of a point-to-point task space references under the effect of actuators' faults, picking/releasing a payload, changing the operating region, and measurement noise. Efficacy of the proposed technique is verified via numerical simulations.
Learning from Demonstration (LfD) enables robots to learn new tasks through an imitation process. This methodology can be combined with Behavior-Based Control (BBC), which facilitates the abstraction of behaviors for ...
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ISBN:
(数字)9798331508807
ISBN:
(纸本)9798331508814
Learning from Demonstration (LfD) enables robots to learn new tasks through an imitation process. This methodology can be combined with Behavior-Based Control (BBC), which facilitates the abstraction of behaviors for the robot by dividing them into micro-behaviors. These can be implemented using Artificial Neural Networks trained by bio-inspired algorithms. In this work, a novel methodology based on the LfD and BBC methods is proposed for controlling soccer robots, specifically for the Very Small Size Soccer (VSSS) category, which demands quick and dynamic responses. Simulations using CoppeliaSim were conducted to demonstrate how the proposed methodology can be used for path planning and path-following problems in the IEEE VSSS category.
This paper presents a new predictive model for chip back-flow angle in machining with restricted contact grooved tools. This model is derived from the recently established universal slip-line model for machining with ...
This paper presents a new predictive model for chip back-flow angle in machining with restricted contact grooved tools. This model is derived from the recently established universal slip-line model for machining with restricted contact cut-away tools. A comprehensive definition of the chip back-flow angle is first developed, and based on this, a quantitative analysis of the effect of chip back-flow is presented for the given set of cutting conditions, tool geometry and variable tool-chip interfacial stress state. This model also predicts cutting forces, chip thickness ratio and chip up-curl radius. A full experimental validation of the predictive model involving the use of high speed filming techniques is then presented for chip back-flow angle and this validation provides a range of feasible/prevalent tool-chip interfacial frictional conditions for a given set of input conditions.
This talk covers characterization and evaluation of nanoparticle targeted delivery and permeability *** systems have been widely used in diagnostic imaging and targeted therapeutic applications in recent *** of the ma...
This talk covers characterization and evaluation of nanoparticle targeted delivery and permeability *** systems have been widely used in diagnostic imaging and targeted therapeutic applications in recent *** of the major challenges in nanomedicine is to improve particle selectivity and adhesion efficiency under complex vascular flow *** developed an integrated microvascular mimetic microfluidic testing platform to evaluate nanoparticle targeted delivery under vascular flow.A monolayer of endothelium cell is formed in the channel and activated locally through TNF-α to mimic the physiological diseased *** binding dynamics and permeability under a range of shear rates are characterized to evaluate the targeting *** aim to provide a systematic design and evaluation tool toward a virtual vascular platform for nanomedicine testing.
Microbubbles stimulated by focused ultrasound is a rapidly emerging technique for noninvasively permeabilizing the blood brain barrier (BBB) for the delivery of therapeutic agents. Despite its prevalence, much is stil...
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Tb3+-doped LiYb1-xTbx(MoO4)2 (x = 0. 01-1) solid solutions were prepared by solid state reaction. Structural of the solid solution series was carried out by X-ray powder diffraction. By increasing the Tb3+concentratio...
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Issues associated with professionaly relevant graduate education for graduate engineers in industry are discussed. The need to reshape professionally oriented graduate education for engineers in industry is raised by ...
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Issues associated with professionaly relevant graduate education for graduate engineers in industry are discussed. The need to reshape professionally oriented graduate education for engineers in industry is raised by practicing profession in industry, worldwide. Measures are being taken by nations around the world to promote technological competitiveness and to attract, create, grow and retain world class technology-based industry for economic growth. Development of funding for the continual improvement/renewal of the collaborative university alliance to ensure continuity for further long-term collaborative educational innovation within the US.
In this paper, a kinematic calibration method is developed for a 3rRPS metamorphic parallel mechanism with respect to all unknown parameters. Each limb of the 3rRPS mechanism is composed of (rR), P, and S joints. Two ...
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The arm/hand manipulating system considered in this paper consists of a large robot (the arm) carrying a small mechanism (the hand) which through its coordinated motion is able to perform tasks in a manufacturing work...
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The arm/hand manipulating system considered in this paper consists of a large robot (the arm) carrying a small mechanism (the hand) which through its coordinated motion is able to perform tasks in a manufacturing work-cell. In general, the arm subsystem is used to locate its end-point where the hand is connected at a specific location or to move it along a given trajectory. The hand can then be used to pick up an object or a tool, for placing the object or performing a machining task. This paper presents a control architecture for an arm/hand manipulating system. In particular, contributions of the paper are a method for controlling the fingers of the hand mechanism and classification of the forces which can act on the arm/hand system.< >
This work aims to develop a transient three-dimensional mathematical model using the elliptic cylindrical coordinate system, to predict heat transfer in a elliptic cylindrical packed fixed bed reactor. The model consi...
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