Within the scope of experiments, the effect of stitch yarn type, such as aramid and nylon (PA 66), were investigated in biaxial weft knitted (BWK) thermoplastic composites. Before fabricating of BWK thermoplastic fabr...
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Polycrystalline films of undoped GaSb, GaSb0.86As0.14, and GaSb0.8As0.2 were grown on glass substrates by molecular-beam deposition. Hall-effect measurements were performed in the temperature range of 10-400 K. Temper...
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In this paper, we describe the development of a 6-legged robot that is designed to move on rubble. We investigate the effectiveness of applying reinforcement learning that utilizes body image to a real robot. We condu...
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Mission planning was thoroughly studied in the areas of multiple intelligent agent systems,such as multiple unmanned air vehicles,and multiple processor ***,it still faces challenges due to the system complexity,the e...
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Mission planning was thoroughly studied in the areas of multiple intelligent agent systems,such as multiple unmanned air vehicles,and multiple processor ***,it still faces challenges due to the system complexity,the execution order constraints,and the dynamic environment *** address it,a coordinated dynamic mission planning scheme is proposed utilizing the method of the weighted AND/OR tree and the *** the scheme,the mission is decomposed into a time-constraint weighted AND/OR tree,which is converted into an AOE-Network for mission ***,a dynamic planning algorithm is designed which uses task subcontracting and dynamic re-decomposition to coordinate *** scheme can reduce the task complexity and its execution time by implementing real-time dynamic *** simulation proves the effectiveness of this approach.
In general, due to some limitations of nonlinear control methods, it is difficult to analyze control performance for nonlinear multi-agent network. The T-S fuzzy model-based approach is often introduced to help solve ...
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Analysis of sound field distribution is a data-intense and memory-intense application. To speed up calculation, an alternative solution is to implement the analysis algorithms by FPGA. This paper presents the related ...
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Analysis of sound field distribution is a data-intense and memory-intense application. To speed up calculation, an alternative solution is to implement the analysis algorithms by FPGA. This paper presents the related issues for FPGA based sound field analysis system from the point of view of hardware implementation. Compared with other algorithms, the OCTA-FDTD algorithm consumes 49 slices in FPGA, and the system updates 536.2 million elements per second. In system architecture, the system based on the parallel architecture benefits from fast computation since the sound pressures of all elements are obtained and updated at a clock cycle. But it consumes more hardware resources, and a small sound space is simulated by a FPGA chip. In contrast, the system based on the time-sharing architecture extends the simulated sound area by expense of computation speed since the sound pressures are calculated element by element.
The fixed points theory is applied for the dynamic absorber attached to two degree of freedom system which consists of two identical single degree of freedom systems connected in series. The frequencies of fixed point...
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Simulation and analysis of the dynamic force-free control of robot arm with revolute joints are presented in this paper. Initially, modeling of dynamic force-free control method is described. Then simulation is carrie...
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ISBN:
(纸本)9781467322478
Simulation and analysis of the dynamic force-free control of robot arm with revolute joints are presented in this paper. Initially, modeling of dynamic force-free control method is described. Then simulation is carried out for single arm and two arm links robots by adopting Matlab/Simulink environment. The model characteristics of the force-free control is utilized to demonstrate the autonomous safety action being taken by the robot arm in particular instances such as;when the robot insisting on an undesirable operation or a collision with an obstacle or an unusual dragging along the working objects. Finally, simulation results are taken by adopting the force-free control on robot arms with industrial mechatronics controllers. Moreover, analysis of the force-free control is carried out by using real robot parameters throughout the simulations. Since the force-free control is about to deal with external forces given to the robot arm, it can be used to illustrate the cooperative control between a human and a robot arm by means of passive motion through external force.
In this paper, the robust control of constrained discrete-time linear time-varying or uncertain systems affected by bounded additive disturbance is considered. The main idea is to use an interpolation technique betwee...
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In this paper, the robust control of constrained discrete-time linear time-varying or uncertain systems affected by bounded additive disturbance is considered. The main idea is to use an interpolation technique between several local unconstrained robust optimal controls. From the implementation point of view, the scheme is shown to be computationally attractive, at each time instant a quadratic programming (QP) problem being solved on-line. The proofs of recursive feasibility of the optimization procedure and ISS stability of the closed loop system are given.
This paper deals with a ball and plate experiment and the objective is twofold. In the first part, a solution to the identification problem for this multi-input multi-output system is provided. In the second part an i...
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This paper deals with a ball and plate experiment and the objective is twofold. In the first part, a solution to the identification problem for this multi-input multi-output system is provided. In the second part an improved vertex control technique, recently proposed in literature (Nguyen et al. [2011b], Nguyen et al. [2011a]), is applied for stabilizing the ball and plate system. Based on an interpolation technique, feasibility and an asymptotically stable closed loop behavior are guaranteed.
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