In this work, we present implementation and experiment of the theory of dynamic force sensing for robotic manipulators, which uses a sensor fusion technique in order to extract the contact force exerted by the end-eff...
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In this paper, we propose a method for self-calibration of a robotic manipulator force observer, which fuses information from force sensors and accelerometers in order to estimate the contact force exerted by a manipu...
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The composing principle of the prediction simulation system for ship motion is described, and the engineering realization of hardware and software is introduced. The 3-DOF flat which is able to simulate the motion of ...
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The composing principle of the prediction simulation system for ship motion is described, and the engineering realization of hardware and software is introduced. The 3-DOF flat which is able to simulate the motion of surge, pitch and roll independently is presented. The principle of simulation of real ship motion is discussed, and the calculation method of real-time prediction of ship motion is given. The modeling method of AR online is simple and practical. The prediction result of longitudinal motion is given, and is compared with real ship motion. The precision of amplitude prediction and the precision of phase prediction are all below 5%.
We present in this paper the general characteristics of a Radio and Plasma Wave experiment that we wish to submit in response to a possible Announcement of Opportunity for the Solar Orbiter payload. This experiment wi...
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ISBN:
(纸本)9290922052
We present in this paper the general characteristics of a Radio and Plasma Wave experiment that we wish to submit in response to a possible Announcement of Opportunity for the Solar Orbiter payload. This experiment will provide measurements of both electrostatic and electromagnetic fields and waves in a broad frequency band, typically from a fraction of a Hertz up to a few tens of MHz, covering therefore all the scientific objectives described in the Solar Orbiter Science requirements document.
Robust stability of linear systems in presence of bounded uncertain time-varying time delays is studied. The time delay robustness problem is treated in the Integral Quadratic Constraint (IQC) framework. The stability...
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In robotic operations where a manipulator is involved, it is well-known that the quantities measured by a wrist force/torque sensor are corrupted by the dynamics of the end effector and manipulator. To solve this prob...
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Not only the size and velocity distrib ution but also the spatial information of those instantaneous properties of individual droplets and bubbles are required to understand the complex behavior of dispersed multi-pha...
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Not only the size and velocity distrib ution but also the spatial information of those instantaneous properties of individual droplets and bubbles are required to understand the complex behavior of dispersed multi-phase flow. In the present paper, an interferometric laser imaging technique investigating two-phase flow characeristics was demonstrated examining the simultaneous measurement of planar distributions on particle size, velocity vector and number density concentration from a frozen image, and the time series information was obtained by processing sequential imagtes of the interferogram. The measurement results with velocity vectors were precisely discriminated by size, the transient spray showed the significant difference of their flow behavior. Interferometric technique was further applied to investigate the characteristics of the size distribution of microscale gas bubble in liquid and to measure such bubbly flows on the different basis as air injection bubbly flow, electrolytic hydrogen and oxygen bubble injection and alcoholic beverages with gas bubbles.
The power-loss models for different switching states of IGCTs and diodes in MV (medium voltage) three-level NPC (neutral point clamped) inverters are presented in this paper. The models, simulation implementation and ...
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In this paper, we focus on the issue of adaptive H∞- control design for a class of linear parameter-varying (LPV) systems based on the Hamiltonian-Jacobi-Isaac (HJI) method. By combining the idea of polynomially para...
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