Impedance control is one of the most effective force control methods for a robot manipulator in contact with an object. It should be noted, however, that a practical study on such a method has not been successfully ap...
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Impedance control is one of the most effective force control methods for a robot manipulator in contact with an object. It should be noted, however, that a practical study on such a method has not been successfully applied to an industrial robot with 6 degree-of-freedom. A hybrid compliance/force control (HCC) in this field was suggested to deal with the practical problem, in which a desired damping coefficient is determined by repeating many simulations. To determine a suitable compliance without trial and error, we have already presented a tuning method which produces the desired time-varying compliance, giving the critical damping in contact with an object, by using the information on the inertia and Jacobian matrices. But the tuning method needs to measure the physical information of the environment. In this paper, to overcome the problem we propose a fuzzy environment model that can estimate each directional stiffness of the environments. The fuzzy environment model is composed of several fuzzy rules which are learned with genetic algorithms. Simulation results show that the proposed method is very effective for deciding the desired compliance without any complicated tuning and is very robust to the change of environment.
It is known that the equation of motions for an omnidirectional mobile robot is nonlinear with respect to the rotational angle between the moving and absolute coordinate systems. In this paper, a fuzzy model approach ...
This paper introduces a new vision technique for extracting roof edges of polyhedra having specularly reflecting surfaces. There have been many previous works on object recognition using edge information, but they can...
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ISBN:
(纸本)0780341198
This paper introduces a new vision technique for extracting roof edges of polyhedra having specularly reflecting surfaces. There have been many previous works on object recognition using edge information, but they can not be applied to specular objects since it is hard to acquire reliable camera images of specular objects. If there is a method which can extract the edges of specular objects, it is possible to apply edge-based recognition algorithms to specular objects. To acquire the reliable edge images of specular objects, scanned double pass retroreflection method is proposed, whose main physical characteristic is curvature-sensitive. This utility of the physical characteristic is motivated by the idea that roof edges can be characterized as local surfaces of high curvature. In this paper, the optical characteristics of double pass retroreflection are discussed and a series of simulation studies are performed to verify and analyze the sensor characteristics. The results from a series of simulations show the effectiveness of the proposed method.
In this paper, we present the design and the structure of our multiple micro-robot system, CENDORI, designed for playing a robot soccer game, MIROSOT. A robot soccer game is a very complex robot application that incor...
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ISBN:
(纸本)0780336127
In this paper, we present the design and the structure of our multiple micro-robot system, CENDORI, designed for playing a robot soccer game, MIROSOT. A robot soccer game is a very complex robot application that incorporates real-time vision, robot control wireless communication and management of multiple robots. To build a robot system with high performance and reliability, we designed the system architecture with a centralized concept. The robot control relies largely upon the vision system and the host computer generating low level motion control words. The experimental results and the performance of the robot are discussed.
The passivity property of dissipative mechanical structures has long been exploited in designing passive controllers that provide robust stability even in the presence of unmodeled dynamics of the system. For an input...
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The passivity property of dissipative mechanical structures has long been exploited in designing passive controllers that provide robust stability even in the presence of unmodeled dynamics of the system. For an input/output map of a flexible structure to be passive, collocation of the actuators and sensors is required and also the sensors should measure the velocity of the system. The so-called smart structures frequently have more sensors than actuators. Therefore, the passive controller can at best utilize only a subset of the sensors. In this paper we consider the design of a squaring down matrix which would render a system passive subject to some additional performance considerations. The problem of obtaining the synthesized passive output is cast as a set of linear matrix inequalities (LMIs) which can be efficiently solved by the LMI Toolbox in Matlab. We apply this procedure with the assumption that the sensors provide both displacement and velocity information which is generally not true. We show that the passive controllers can be implemented without the use of velocity information. By using synthesized passive outputs in addition to naturally occurring passive outputs, we obtain better system performance. We present experimental results involving a single flexible beam with torque input and hub angular position and strain gage outputs.
The possible accuracy limit of micro control of dynamic systems in which the dominating disturbances are thermal and quantum noises is considered. The optimal control with a Kalman-Bucy filter (KBF) and physical limit...
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The possible accuracy limit of micro control of dynamic systems in which the dominating disturbances are thermal and quantum noises is considered. The optimal control with a Kalman-Bucy filter (KBF) and physical limit...
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The possible accuracy limit of micro control of dynamic systems in which the dominating disturbances are thermal and quantum noises is considered. The optimal control with a Kalman-Bucy filter (KBF) and physical limits of micro control of a macro object are studied. For the individual control of a micro object a quantum prototype of KBF with non-demolition observation on the basis of quantum filtering equation is introduced.
In an era of fiscal austerity, downsizing and unforgiving pressure upon human and economic capital, it is an Augean task to identify resources for fresh and creative work. The realities of the day and the practical de...
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In an era of fiscal austerity, downsizing and unforgiving pressure upon human and economic capital, it is an Augean task to identify resources for fresh and creative work. The realities of the day and the practical demands of more immediate fleet needs can often dictate higher priorities. Yet, the Navy must avoid eating its seed corn. Exercising both technical insight and management foresight, the fleet, the R&D community, the Office of the Chief of Naval Operations (OpNav) and the product engineering expertise of the Naval Surface Warfare Center (NSWC) are joined and underway with integrated efforts to marry new, fully demonstrated technologies and operational urgencies. Defense funding today cannot sponsor all work that can be mission-justified over the long term because budgets are insufficient to support product maturation within the classical development cycle. However, by rigorous technical filtering and astute engineering of both marketplace capabilities and currently available components, it is possible in a few select cases to compress and, in effect, integrate advanced development (6.3), engineering development (6.4), weapon procurement (WPN), ship construction (SCN), operation and maintenance (O&M,N) budgetary categories when fleet criticalities and technology opportunities can happily meet. In short, 6.3 funds can be applied directly to ''ripe gateways'' so modern technology is inserted into existing troubled or aging systems, sidestepping the lengthy, traditional development cycle and accelerating practical payoffs to recurrent fleet problems. To produce such constructive results has required a remarkable convergence of sponsor prescience and engineering workforce excellence. The paper describes, extensively, the philosophy of approach, transition strategy, polling of fleet needs, technology assessment, and management team requirements. The process for culling and selecting specific candidate tasks for SHARP sponsorship (matching operational need with t
Many efforts towards a settlement of the CO2 problem have already been made through internationally organized meetings. It is not unlikely that some targets will be set for the reduction of CO2 emissions. If a stringe...
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Many efforts towards a settlement of the CO2 problem have already been made through internationally organized meetings. It is not unlikely that some targets will be set for the reduction of CO2 emissions. If a stringent reduction target should be imposed bn CO2 emitted from a national energy system, this can possibly have as severe an impact upon electric power sectors as the oil price crises experienced in the seventies. It is, however, quite uncertain whether or not political muscles will be used specifically for tackling the CO2 problem in the near future. In such a context, this paper presents a new method for optimal power system planning under uncertain CO2 emissions control policies. The derived optimal expansion plan gives us the minimum expected value of the sum of the total system cost and the total amount of carbon taxes levied on net CO2 emissions from fossil fuel-fired power plants. The stochastic dynamic optimization problem discussed here is formulated as a linear programming problem decomposable into several small subproblems. The proposed method can take into account a specific future scenario of the magnitude of control policy uncertainties, which can be presumably resolved in the first half of the next century due to the increase in scientific wisdom. In order to evaluate the usefulness of the method proposed here, the authors also present a simple case study with the Japanese national power system up to the year 2050.
advanced automatic train control (ATC) and automatic train protection (ATP) systems form key elements in the moves to optimise the performance of new generations of trains and railway systems. In these systems, the re...
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advanced automatic train control (ATC) and automatic train protection (ATP) systems form key elements in the moves to optimise the performance of new generations of trains and railway systems. In these systems, the reliable and accurate measurement of position and speed using on-board systems, plays a vital role in reducing the need for trackside equipment. This is combined with radio transmission systems to report the measured position and speed data to the control centre. New approaches in instrumentation, applying mechatronics technology and engineering and, in particular, sensor fusion, have opened up new paths for achieving better reliability and accuracy in measurement. The authors describe both old and current methods of railway odometry and discuss sensor fusion in general and its application to railway position and speed measurement in particular.
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