Abstract Robots are often run with permanent magnet synchronous motors (PMSM) with a high ratio gearbox. Both parts can produce parasitic oscillations (ripples), which let the robot shake at tool center point. The gea...
Abstract Robots are often run with permanent magnet synchronous motors (PMSM) with a high ratio gearbox. Both parts can produce parasitic oscillations (ripples), which let the robot shake at tool center point. The gearbox ripple problem is more complicated to be solved with control theory because only motor side sensors should be used. Due to the internal model principle gearbox side information is necessary to solve the problem. The first algorithm uses an observer to get gearbox side information where the second algorithm uses a gearbox side rate sensor. The algorithms are tested with a nonlinear SISO problem and with a nonlinear MIMO system. In both cases the ripples are canceled with an adaptive controller which estimates the phase and magnitude of the ripple. This adaptive controller is designed separately and is added to the existing basis controller. The algorithms are tested in simulation and on a testbed, which is an industrial application.
The spatial uncertainties of tip positioning due to the nonlinearity of the PZT scanner and thermal drift hinder the further application of the AFM based nanomanipulation. This paper brings forward feature referenced ...
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ISBN:
(纸本)9781457721366
The spatial uncertainties of tip positioning due to the nonlinearity of the PZT scanner and thermal drift hinder the further application of the AFM based nanomanipulation. This paper brings forward feature referenced tip localization enhanced by probability motion model to reduce the spatial uncertainties. An improved motion model is probabilistically built by incorporating the PI model, the creep model and the thermal drift model. For calibrating the accurate model parameters, the statistical experiments are designed and performed. Then the tip position is optimally estimated by combining with a local scan based feature sensing method. The simulation and corresponding experiments are performed to illustrate the validity and feasibility of the calibrated parameters and the algorithm.
In the paper an adapted version of the differential evolution algorithm has been created to solve a multiobjective optimization problem. Multi-objective Differential Evolution Algorithm using vector differences for pe...
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The paper addresses the problem of non-parametric estimation of the static characteristic in Wiener-Hammerstein (sandwich) system excited and disturbed by random processes. A new, kernel-like method is presented. The ...
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This paper describes a method of augmenting real-time ultrasound imagery with accurate 3D models computed earlier from sources richer in data - Computed Tomography (CT) or Magnetic Resonance (MR) images. The 3D models...
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Our aim is to consider the problem of allocating sensors and frequencies of their activation in such a way that the balance between the estimation accuracy of a scalar field and energy consumption is optimized. To thi...
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In the paper we recover a Hammerstein system nonlinearity. Hammerstein systems, incorporating nonlinearity and dynamics, play an important role in various applications, and effective algorithms determining their chara...
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In the note two recursive algorithms recovering the nonlinearity in Hammerstein systems are proposed. The algorithms are based on Haar wavelet orthogonal series kernels and are of the simple generic standard form: μc...
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The problem of nonlinear dynamic systems modelling by means of block-oriented models has been strongly elaborated for the last four decades, due to vast variety of applications. The concept of block-oriented models as...
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Our aim is to consider the problem of allocating sensors and frequencies of their activation in such a way that the balance between the estimation accuracy of a scalar field and energy consumption is optimized. To thi...
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Our aim is to consider the problem of allocating sensors and frequencies of their activation in such a way that the balance between the estimation accuracy of a scalar field and energy consumption is optimized. To this end we propose an extension of the theory of optimal experiment designs by including terms for transmission energy consumption or penalties for region coverage into the optimality criterion. We state the optimality conditions, which serve as a base for a numerical algorithm for searching sensors' positions and frequencies of their activations. Examples of optimal allocations for a variety of basis, spanning spatial fields, are also provided.
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