In this work we aim to explore the concept of using the shift in the center of gravity, which in turn produces roll and pitch moments, to control the attitude of the quadrotor. We propose constructing a UAV with movin...
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ISBN:
(纸本)9781467383479
In this work we aim to explore the concept of using the shift in the center of gravity, which in turn produces roll and pitch moments, to control the attitude of the quadrotor. We propose constructing a UAV with moving masses within each rotor arm. In this paper we show the mathematical equations describing the dynamics of the proposed system, propose a classical PID based control approach and analyze and confirm its stability. Furthermore, we analyze the effectiveness of the proposed controller in a Gazebo based simulation environment. Finally, we build a laboratory testbed that emulates the dynamics of the system and test our proposed control strategy.
This article discusses the general issues of designing modular mobile robotic platforms (MRPs), which are transport agents in internal logistics systems. The proposed algorithm for the synthesis of robotic systems dev...
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This article discusses the general issues of designing modular mobile robotic platforms (MRPs), which are transport agents in internal logistics systems. The proposed algorithm for the synthesis of robotic systems develops the previously obtained research results of mecanum platform design methods and expands their use as transport agents in the field of e-commerce. The document presents not only general design issues of modular MRPS, but also indicates possible areas of research, offers specific solutions and develops a number of prototypes for omnidirectional platforms.
This research paper considers the possibility of using an acoustic emission control method in the process of direct laser melting to determine the moment of the development of cracking in the samples being melted unde...
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This paper is devoted to the rotor angular velocity estimation of the permanent-magnet synchronous motor (PMSM). It is an actual problem, for example, in sensorless control. We consider a classical, two-phase model in...
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The article discusses the development of a robust algorithm for controlling the system output in the presence of restrictions on the input signals. The nominal controller contains an integral component to compensate f...
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ISBN:
(数字)9781728187631
ISBN:
(纸本)9781728187648
The article discusses the development of a robust algorithm for controlling the system output in the presence of restrictions on the input signals. The nominal controller contains an integral component to compensate for the external disturbance. Undesired effects of saturation of the input signals are compensated by the static anti-windup correction sheme. An approach is proposed for adjusting the coefficient of anti-windup correction based on the tools of linear matrix inequalities. The effectiveness of the proposed approach is illustrated by the example of an autopilot system by surface vessel.
This paper focuses on bridge inspections performed by intelligent unmanned aerial vehicles (UAV). For this, small data loggers are placed by the UAVs at the bridge, which have to be removed later. In our previous work...
This paper focuses on bridge inspections performed by intelligent unmanned aerial vehicles (UAV). For this, small data loggers are placed by the UAVs at the bridge, which have to be removed later. In our previous work we presented the magnetic localization method SRIOD, which not only detects the center of the data logger but also its orientation. In this work we proof SRIOD in a real application and let a robotic arm locate a magnetic target. The hardware involved is presented including the control strategy for the robot. The motions of the robot and the magnetic target are captured with 12 Optitrack cameras in order to validate the localization quality.
In this paper we extend our previous work on UAV localization based on the magnetic field strength. The method is based on a magnetic flux density distribution in vicinity of two very long, thin and parallel transmiss...
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ISBN:
(数字)9781665405935
ISBN:
(纸本)9781665405942
In this paper we extend our previous work on UAV localization based on the magnetic field strength. The method is based on a magnetic flux density distribution in vicinity of two very long, thin and parallel transmission lines. An UAV is equipped with 4 magnetometers, positioned so that obtained measurements give unique solution to an optimization problem used to find relative position and orientation of the UAV with respect to conductors. Several sets of experiments, undertaken on a laboratory setup, confirmed validity of the method for both solutions - analytical and numerical optimization. Obtained results, compared with high precision motion capture system, are within range of standard RTK positioning.
The paper discusses advanced educational technologies in control engineering implemented at ITMO University. They are module-based education, project-based bachelor’s degree program and project tracks based on academ...
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The paper discusses advanced educational technologies in control engineering implemented at ITMO University. They are module-based education, project-based bachelor’s degree program and project tracks based on academia-industry collaboration. All of them are oriented on the students needs and aimed to update the educational processes, reduce its bureaucracy and improve its outcome. The positive experience of such initiatives is already confirmed by a number of successful participations of the students in top level world competitions on robotics.
In this paper the framework of an intelligent control system of a multi-finger robot hand is described, that is especially tailored for sensor-based object handling and assembly. The research has concerned with the Ka...
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In this paper the framework of an intelligent control system of a multi-finger robot hand is described, that is especially tailored for sensor-based object handling and assembly. The research has concerned with the Karlsruhe dextrous hand, a modular three-finger hand with 9 degrees of freedom, independent finger modules and integrated sensors. The total system structure consists of three embedded subsystems, with a planning and supervisory system on the top, which has a blackboard-like architecture to exchange information with a distributed real-time control system that provides force/position control strategies for dextrous grasping and manipulating of arbitrary objects. A programming and simulation system supports the object/task-based description of all robot and gripper actions required to perform a specific operation.< >
This paper introduces a novel approach to the optimal control of linear discrete-time systems subject to bounded disturbances. Our approach is based on the newly established duality between ellipsoidal approximations ...
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