This paper presents the kinematic study of robotic biped locomotion systems. The main purpose is to determine the kinematic characteristics and the system performance during walking. For that objective, the prescribed...
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This paper presents the kinematic study of robotic biped locomotion systems. The main purpose is to determine the kinematic characteristics and the system performance during walking. For that objective, the prescribed motion of the biped is completely characterised in terms of five locomotion variables: step length, hip height, maximum hip ripple, maximum foot clearance and link lengths. In this work, we propose three methods to quantitatively measure the performance of the walking robot: perturbation analysis, lowpass frequency response and locomobility measure. These performance measures are discussed and compared in determining the robustness and effectiveness of the resulting locomotion.
This paper presents the kinematic study of robotic biped locomotion systems. The main purpose is to determine the kinematic characteristics and the system performance during walking. For that objective, the prescribed...
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This paper presents the kinematic study of robotic biped locomotion systems. The main purpose is to determine the kinematic characteristics and the system performance during walking. For that objective, the prescribed motion of the biped is completely characterised in terms of five locomotion variables: step length, hip height, maximum hip ripple, maximum foot clearance and link lengths. In this work, we propose three methods to quantitatively measure the performance of the walking robot: locomobility measure, perturbation analysis, and low pass frequency response. These performance measures are discussed and compared in determining the robustness and effectiveness of the resulting locomotion.
Qualitative models of spatial knowledge concern the description of both the shape of objects and their relative position in space. While there are contributions related to the latter aspect, small confidence is availa...
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Qualitative models of spatial knowledge concern the description of both the shape of objects and their relative position in space. While there are contributions related to the latter aspect, small confidence is available for the former one. This paper aims to give a novel contribution in this direction. Qualitative models of shape should be seen as models able to represent commonsense knowledge of shape and not as a surrogate of quantitative models, which have a specific role in computer graphics and pattern recognition. Qualitative models are especially suitable for describing shapes in geographic space and build Geographical Information Systems that simulate the mental processes of human beings. The framework that we propose is structured in three dimensions (topological, projective, and metric properties of shape) that are shown to be necessary. Major emphasis is given to metric properties (elongation and symmetry) which have not received much attention till now.
作者：
Milanovic, JV[?]Jovica V. Milanovic (1967) received the Dipl.-Ing. (Elec.) and M.Sc. (Elec. Eng.) degrees from the University of Belgrade. Yugoslavia. in 1987 and I99 I
respectively. One year he worked with “Energoproject-MDD”- Engineering and Contracting Co. in Belgrade as an engineer in designing power plants and substations. In late 1988 hejoined the Faculty of Electrical Engineering of the University of Belgrade first as an associate teaching assistant and then (since late 199 I) as teaching assistant at the Dept. of Power Converters and Drives. Between March 1993 and January 1996 he completed his Ph.D. at the University of Newcastle. Australia. at the Dept. of Electrical and Computer Engineering. Since February 1996 he is lecturer at the Department of Electrical Engineering and Computer Science at the University of Tasmania Austnlia. His major interests include synchronous machines and power system transients control and stability. (The University of Tasmania. Dept. of Electrical Engineering and Computer Science GPO Box 252-65 Hobart Tas 7001 Australia.Te1+61 362/262-753 Fax+61 369/262 136. e-mail: Jovica.Milanovic@eecs.utas.edu.au)
The paper presents the overview of load modelling for power-system damping and stability studies with main conclusions summarized from previous research. The attempt has been made to present a cross-section of the mos...
The paper presents the overview of load modelling for power-system damping and stability studies with main conclusions summarized from previous research. The attempt has been made to present a cross-section of the most exploited existing load models together with the most important conclusions drawn from their implementation in power-system stability programs. The current trends and latest results in the domain of damping of electromechanical oscillations in power systems are also presented. The effects of load dynamics on damping of electromechanical oscillations were analyzed on the basis of one of generic load models proposed in the past. The recent results further encourage investigation in this area and highlights the importance of proper load modelling.
The generation of rule-bases in conventional fuzzy logic controllers can be a difficult and time consuming problem for implementation by process operators thus affecting their wider applicability. A Self-Learning Fuzz...
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The generation of rule-bases in conventional fuzzy logic controllers can be a difficult and time consuming problem for implementation by process operators thus affecting their wider applicability. A Self-Learning Fuzzy Logic control (SLFLC) offers a possible solution. A performance study is therefore presented to evaluate the performance of a proposed SLFLC by analysing its transient performance for a variety of on-line tests and examining its ability to generate a consistent set of rules, based on a predetermined criteria. The results presented show that even with a limited knowledge of the process, the self-learning procedure is able to develop a suitable set of rules and produce a satisfactory process performance with some degree of robustness and repeatability when applied to a non-linear single-input single-output (SISO) or multi-input multi-output (MIMO) laboratory liquid-level processes.
The paper focuses on the speed control of stepping motors in a closed-loop configuration. An incremental optical encoder is used as the position transducer, allowing the achievement of a minor loop. The numerical cont...
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The paper focuses on the speed control of stepping motors in a closed-loop configuration. An incremental optical encoder is used as the position transducer, allowing the achievement of a minor loop. The numerical control algorithm is implemented using an IBM PC together with a specialized interface for stepper motors. The solution was obtained in two steps: the first was a nonlinear control law and the second was the improvement of the first one by using a PI part.
A new matrix rule-based model of discrete-part discrete event systems is given that, together with the well-known Petri net marking transition equation, yields a complete matrix-based dynamical description of these sy...
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A new matrix rule-based model of discrete-part discrete event systems is given that, together with the well-known Petri net marking transition equation, yields a complete matrix-based dynamical description of these systems. In this application to deadlock analysis, the exact relations between circular blockings and deadlocks are given for a large class of reentrant flow lines. Explicit matrix equations are given for online dynamic deadlock analysis in terms of circular blockings, and certain 'critical siphons' and 'critical subsystems'. This allows efficient dispatching with deadlock avoidance using a generalized kanban scheme. For the class of flow lines considered, the existence of matrix formulae shows that deadlock analysis is not NP-complete, but of polynomial complexity.
作者：
Gheorghe BãluṭăŞtefan ResmeriṭăGheorghe Bäluṭă
“Gh. Asachi” Technical University of Iasi Faculty of Electrical Engineering Electric Drives and Power Electronics Department Str. Horia No. 7-9 6600 Iasi Romania tel.032/112770 Ştefan Resmeriṭà
“Gh. Asachi” Technical University of Iasi Faculty of Automatic Control and Computer Engineering Department of Automatic Control and Industrial Informatics Str. Horia No. 7-9 6600 Iasi Romania tel. 032/116502 tuiasi.ro
This paper presents a method for Stepper Motor (SM) speed control by means of a minor loop. The compatibility of the SM with the digital electronics allowed a PC to be used for implementing the control algorithm, the ...
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This paper presents a method for Stepper Motor (SM) speed control by means of a minor loop. The compatibility of the SM with the digital electronics allowed a PC to be used for implementing the control algorithm, the SM control being achieved by two hardware interface levels. The SM command is realized with two specialized circuits: L297 (SM controller) and L298N (driver). The control signals for this level are generated through a parallel port 18255 and a programmable timer 18253. Some other circuits complete the microprocessor interface. The software has the following tasks: speed measurement and control algorithm achievement of a PI type. To tune this controller the system characteristics are measured, when the system is unstable, having a relay instead of the PI part. There are treated aspects on choosing the sample period, the position transducer, and the type of speed measurement.
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