In this article we present a mathematical model of a spincopter -an inherently stable and easy to control unmanned aerial vehicle (UAV). Although the devised model represents only the first approximation of spincopter...
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In this article we present a mathematical model of a spincopter -an inherently stable and easy to control unmanned aerial vehicle (UAV). Although the devised model represents only the first approximation of spincopter's physics, it captures basic phenomena that are sufficient for derivation and testing of a simple control algorithm. Results obtained by simulations in Simulink presented herein, demonstrate efficient performance of the proposed simple controller structure. Further tests, including investigation of complex aerodynamics effects and hardware-specified limitations, have been done using X-Plan software package. Finally, the proposed controller has been tested experimentally. Both, Xplane and experimental results confirmed the outcome from Simulink.
Abstract This paper addresses the experimental identification of a servo actuator which is used in many industrial applications. Because the system consisted of electrical and mechanical components, the behavior of th...
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Abstract This paper addresses the experimental identification of a servo actuator which is used in many industrial applications. Because the system consisted of electrical and mechanical components, the behavior of the system was nonlinear. In addition, the under load behavior of this servo was different. The load torque was considered as the input and a two input-one output model was presented for this servo actuator. Special focus was given in order to present a simple model for this servo actuator. The comparison between simulation and experimental results showed the effectiveness of the propose model. The model can be applied as a reference for characterizing different designs and future control strategies.
For more clear understanding of the measurand, enough information must be obtained in a limited time and space. an improved particle swarm optimization (IPSO) is proposed, and the attempt to use an IPSO algorithm for ...
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Wireless capsule endoscopy (WCE) has been widely adopted to diagnose diseases in human intestine on account of its convenience and invasiveness to the patients. Due to complicated environment of the intestine and intr...
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Wireless capsule endoscopy (WCE) has been widely adopted to diagnose diseases in human intestine on account of its convenience and invasiveness to the patients. Due to complicated environment of the intestine and intrinsic restrictions of the equipment in terms of image acquisition and transmission, however, raw WCE images are often blurred and noise contaminated. In this paper, we report several new developments for the restoration of color WCE images in a total variation (TV) minimization framework. Specifically, the monotone fast iterative shrinkage/thresholding algorithm combined with the fast gradient projection algorithm, proposed recently by Beck and Teboulle, is extended to deal with vector-valued (e.g. color) images. The new algorithm also incorporates a bisection technique to tune the weighting parameter of the TV-Frobenius objective function to its optimal value quickly and accurately. Experimental results are presented to demonstrate the performance of the proposed algorithm.
The principal lateral motion of an aircraft is described by a minimum of fourth order coupled state variable model. It is interesting to investigate how a decoupling controller can be designed. The Youla-parametrizati...
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ISBN:
(纸本)9780889868632
The principal lateral motion of an aircraft is described by a minimum of fourth order coupled state variable model. It is interesting to investigate how a decoupling controller can be designed. The Youla-parametrization is a simple method to design controllers. The KB-parametrization is a successful extension of this method for two-degree-of freedom (2DOF) systems. The paper extends this methodology for multivariable case and applies to the decoupling lateral control.
Industrial Wireless communications is emerging technology after the Fieldbus in industrial field. For industrial control application with wireless industrial technologies, the WIA-PA standard defines the protocol suit...
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The paper analyzed and model of a fault tolerant electromechanical controlled worm gear driven fuel shut off valve for aerospace application. The analysis is mainly on design a reduced order fractional controller. Thi...
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This paper studies under-constrained cable-driven parallel robots with three cables. A major challenge in the study of these manipulators is the intrinsic coupling between kinematics and statics, which must be tackled...
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This paper studies under-constrained cable-driven parallel robots with three cables. A major challenge in the study of these manipulators is the intrinsic coupling between kinematics and statics, which must be tackled simultaneously. In this contribution, a general elimination procedure is provided that solves the direct geometrico-static problem, which consists in determining the platform posture and the cable tensions when the cable lengths are assigned. The problem is proven to have up to 156 complex solutions.
Path planning for robotic manipulators interacting with obstacles is considered, where an end-effector is to be driven to a goal region in minimum time, collisions are to be avoided, and kinematic and dynamic constrai...
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ISBN:
(纸本)9781612848006
Path planning for robotic manipulators interacting with obstacles is considered, where an end-effector is to be driven to a goal region in minimum time, collisions are to be avoided, and kinematic and dynamic constraints are to be obeyed. The obstacles can be time-varying in their positions, but the positions should be known or estimated over the prediction horizon for planning the path. This non-convex optimization problem can be approximated by Mixed Integer Programs (MIPs), which usually leads to a large number of binary variables, and hence, to inacceptable computational time for the planning. In this paper, we present a geometric result whose application drastically reduces the number of binary decision variables in the aforementioned MIPs for 3D motion planning problems. This leads to a reduction in computational time, which is demonstrated for different scenarios.
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