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SpringerBriefs in Applied Sciences and Technology 2014年第9783319039572期 85-89页

作者： Freni, Pierluigi Botta, Eleonora Marina Randazzo, Luca Ariano, Paolo Applied Science and Technology Polytechnic University of Turin Turin Italy Mechanical Engineering McGill University MontrealQC Canada Control and Computer Engineering Polytechnic University of Turin Torino Italy Center for Space Human Robotics Italian Institute of Technology Torino Italy

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一种两自由度的压电-电磁复合能量收集器(英文)

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2014年第9期15卷 711-722页

作者： Hong-yan WANG Li-hua TANG Yuan GUO Xiao-biao SHAN Tao XIE College of Computer and Control Engineering Qiqihar University State Key Laboratory of Robotics and System Harbin Institute of Technology Department of Mechanical Engineering University of AucklandAuckland 1010 New Zealand

研究目的:对一种两自由度的压电-电磁复合能量收集器进行发电性能研究。创新要点:建立了一种两自由度压电-电磁复合能量收集器发电性能的数学模型,该数学模型可以评估两自由度压电-电磁复合能量收集器中压电元件、电磁元件以及系统总输... 详细信息

研究目的:对一种两自由度的压电-电磁复合能量收集器进行发电性能研究。创新要点:建立了一种两自由度压电-电磁复合能量收集器发电性能的数学模型,该数学模型可以评估两自由度压电-电磁复合能量收集器中压电元件、电磁元件以及系统总输出功率。研究方法:对一种两自由度的压电-电磁复合能量收集器进行数学建模,并实验验证数学模型的正确性。基于实验测试得到的系统参数值,理论研究压电元件和电磁元件的机电耦合系数对不同能量收集器发电性能的影响关系,并对几种能量收集器的发电能力进行对比分析。重要结论:对于非强耦合(弱或中间耦合)的两自由度机电转换器,复合能量收集器(压电+电磁)具有比单一能量收集器(压电或电磁)更高的发电能力。

关键词：振动复合能量收集两自由度模型压电电磁

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On applications of robotic representation of molecules

On applications of robotic representation of molecules

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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Michał Adamczyk Ignacy Duleba Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland

In this paper a robotic representation of chemical compounds was proposed. The representation allows to model chemical molecules similarly to open-chain manipulators with tree-like structures. Transformations between known chemical representations (formats) and robotic one were established and the representations were compared to. Possible applications of the robotic representation were enumerated and illustrated on a simple example.

关键词： Robot kinematics Manipulators Kinematics Chemicals Chemical compounds

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Inexact Newton matrix-free methods for solving complex biotechnological systems

Inexact Newton matrix-free methods for solving complex biote...

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Federated Conference on computer Science and Information Systems (FedCSIS)

作者： Paweł Drąg Marlena Kwiatkowska Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland

In the article a new approach for solving complex and highly nonlinear differential-algebraic equations (DAEs) was presented. An important kind of applications of DAE systems is modeling of biotechnological processes, which can have a very different course. An efficient solving of equations describing biotechnological industrial inlets results in better optimization of the processes and has a positive impact on the environment. Some of the mentioned processes were characterized by a highly nonlinear dynamics. To obtain the trajectories of the state numerically, the backward differentiation formula was used in the presented method. As a result, a large-scale system of nonlinear algebraic equations was obtained. To solve a such system, the inexact Newton matrix-free approach was proposed. The new algorithm was tested on a mathematical model of a fed-batch fermentor for penicillin production. The numerical simulations were executed in MATLAB using Wroclaw Center for Networking and Supercomputing.

关键词： Mathematical model Jacobian matrices Equations Newton method Optimization Vectors Production

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Necessary optimality conditions for optimal control of the multistage differential-algebraic systems

Necessary optimality conditions for optimal control of the m...

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International Carpathian control Conference (ICCC)

作者： Paweł Drąg Krystyn Styczeń Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland

In the article a new approach for optimal control of the multistage differential-algebraic systems was presented. A merit function based on Fletcher's augmented Lagrangian was used. The necessary optimality conditions for the optimal control of multistage index-1 DAE systems were stated and locally optimal solution was obtained using the inexact Newton method. The only constraints for decision variables are lower and upper bounds. The piecewise-linear projection of the constraints on control variables and both differential and algebraic variables onto the feasible box were used. The numerical simulations on a catalyst mixing problem were executed in Matlab environment using Wroclaw Centre for Networking and Supercomputing.

关键词： Newton method Mathematical model Equations Optimal control Optimization Vectors Trajectory

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Simulations of the hazard detection system for approach trajectories of the Morpheus lunar lander

Simulations of the hazard detection system for approach traj...

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AIAA Guidance, Navigation, and control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015

作者： Luna, Michael E. Huertas, Andres Trawny, Nikolas Villalpando, Carlos Y. Martin, Keith E. Wilson, William Restrepo, Carolina I. Guidance & Control Section Jet Propulsion Laboratory California Institute of Technology Mail Stop 198-235 PasadenaCA91109 United States Mobility & Robotics Systems Section Jet Propulsion Laboratory California Institute of Technology Mail Stop 198-235 PasadenaCA91109 United States GN&C Hardware & Testbed Development Jet Propulsion Laboratory California Institute of Technology Mail Stop 198-235 PasadenaCA91109 United States Advanced Computer Systems & Technologies Jet Propulsion Laboratory California Institute of Technology Mail Stop 198-138 PasadenaCA91109 United States Simulation & Support Equipment Jet Propulsion Laboratory California Institute of Technology PasadenaCA91109 United States GN&C Hardware & Testbed Development Jet Propulsion Laboratory California Institute of Technology Mail Stop 198-235 PasadenaCA91109 United States Integrated GN&C Analysis Branch NASA Johnson Space Center HoustonTX77058 United States

ISBN: (纸本)9781510801097

The Hazard Detection System is part of a suite of sensors and algorithms designed to autonomously land a vehicle on unknown terrain while avoiding any hazards. This paper describes the simulations built to predict the performance of the Hazard Detection System to support flight testing onboard the Morpheus Lander testbed at the Kennedy Space Center. The paper describes a hardware-in-the-loop simulation that was used to predict system performance under nominal operating conditions, and also a Monte Carlo simulation to predict command timing performance bounds under a wide range of varying conditions. © 2015, E-flow American institute of Aeronautics and Astronautics (AIAA). All rights reserved.

关键词： Monte Carlo methods

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Users’ requirements

SpringerBriefs in Applied Sciences and Technology

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SpringerBriefs in Applied Sciences and Technology 2014年第9783319039572期18卷 3-16页

作者： Freni, Pierluigi Botta, Eleonora Marina Randazzo, Luca Ariano, Paolo Applied Science and Technology Polytechnic University of Turin Turin Italy Mechanical Engineering McGill University Montreal H3A 0G4 QC Canada Control and Computer Engineering Polytechnic University of Turin Turin Italy Center for Space Human Robotics Italian Institute of Technology Turin Italy

ISBN: (纸本)9783319015644

This chapter deals with the identification of the requirements that drive the design of the hand exoskeleton to help crewmembers during Extra-Vehicular Activities (EVAs). The requirements were identified by means of literature review as well as interviews to users and stakeholders. After an introduction to EVAs, the method followed for the design is presented. The space environment and the main characteristics of spacesuits and gloves are reviewed, focusing in particular on the condition of the hands. The fatigue problem of arms and hands during EVAs is explained and some peculiarities of the training that astronauts undergo to prepare to this type of activities in space are stressed. Since one of the most important problems for materials and electronics in space is radiation, the total dose that has to be withstood in the typical International Space Station (ISS) environment is then estimated. Different requirements also come from the EVA spacesuit equipment, as well as from safety and cost considerations. A discussion on kinematics and dynamics follows, in which the main hand movements needed for EVAs and the different joints of the fingers are discussed. Finally, a table summarizes the identified requirements, which drive the design of the hand exoskeleton. © The Author(s) 2014.

关键词： Manned space flight

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Cyclic scheduling of multimodal concurrently flowing processes

Cyclic scheduling of multimodal concurrently flowing process...

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International Conference on Systems Science, ICSS 2013

作者： Bocewicz, Grzegorz Wójcik, Robert Banaszak, Zbigniew Koszalin University of Technology Dept. of Computer Science and Management ul. Sniadeckich 2 Koszalin75-453 Poland Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland Warsaw University of Technology Dept. of Business Informatics Warsaw Poland

ISBN: (纸本)9783319018560

The problem of cyclic scheduling of multimodal concurrent processes (MCPs) is considered. Processes composed of sub-sequences of local cyclic processes (LCPs) are treated as multimodal processes, e.g. in case local processes encompass the subway lines network the relevant multimodal processes can be seen as passengers traveling itineraries this network. Since LCPs network implies a MCPs behavior, the following fundamental questions arise: Does the given LCPs network guarantee an assumed cyclic schedule of the MCPs at hand? Does there exist the LCPs network such that an assumed cyclic schedule of MCPs can be achieved? In that context our contribution is to propose a declarative framework allowing one to take into account both direct and reverse problems formulation. © Springer International Publishing Switzerland 2014.

关键词： Scheduling

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Autonomous Parking using a Highly Maneuverable Robotic Vehicle

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IFAC Proceedings Volumes 2014年第3期47卷 2640-2645页

作者： Alexander Schaub Juan Carlos Ramirez de la Cruz Darius Burschka Institute of System Dynamics and Control Robotics Mechatronics Center - DLR 82234 Wessling Germany Institute of Robotics and Mechatronics Robotics Mechatronics Center - DLR 82234 Wessling Germany Department of Computer Science Technische Universität München 85748 Garching bei München Germany

This work presents a novel autonomous parking concept for a four wheel-steerable robotic electric vehicle called ROboMObil (ROMO). Its extraordinary maneuverability, including rotations and lateral driving, and its capability of autonomous driving is demonstrated in the application of parallel parking. The whole process is described starting with the perception to identify a suitable parking spot in the near environment, planning the maneuver, and executing it autonomously. The proposed parking method is free of assumptions and does not use any information about the environment from an external source. Test results with the real vehicle are presented to show the feasibility of the concept.

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Merged Physical and Virtual Reality in Collaborative Virtual Workspaces: the VirCA Approach

Merged Physical and Virtual Reality in Collaborative Virtual...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Peter Galambos Peter Baranyi Imre J. Rudas Antal Bejczy Center for Intelligent Robotics Obuda University Institute for Computer Science and Control Hungarian Academy of Sciences

ISBN: (纸本)9781479940318

Recently emerging paradigms of the so called Future Internet induce significant changes in consumer and industrial ICT applications. Remote collaboration in mixed physical and virtual realities made possible thanks to the increasing network bandwidth further empowered by the achievements of Internet of Things, Cloud Computing and Internet of Services. This enticing vision brings benefits for several application fields ranging from STEM education to smart factories. The paper discusses some new possibilities through the VirCA (Virtual Collaboration Arena) framework as a pilot realization. A brief introduction is given to VirCA focusing on the basic concepts and features that make it well suited for collaborative work in mixed virtual and physical reality. Through a concrete life-like example, the paper illustrates the way of involving real industrial devices into remote collaboration scenarios and reviews the typical uses of such a shared infrastructure considering the relationship of the virtual and real entities.

关键词： Virtual Reality Future Internet Networked robotics Virtual Laboratories Remote Laboratories Remote Collaboration

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