The delta parallel mechanism has proven to be a very successful parallel robot design and a number of variants have been proposed in the literature. Taking advantage of its simple construction and the intrinsic featur...
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ISBN:
(纸本)9781467391054
The delta parallel mechanism has proven to be a very successful parallel robot design and a number of variants have been proposed in the literature. Taking advantage of its simple construction and the intrinsic features such as high stiffness and accuracy, delta robots play an important role both in the fields of industrial robots and academical fields. In this paper, dynamic modeling and control simulation of a cable-driven modified delta manipulator for haptic interface are discussed. For the parallel mechanism is highly coupled and nonlinear, the dynamic model is of great importance for model-based controller to achieve a satisfactory performance. Based on the principle of virtual work, the dynamic equations of this manipulator are established. The proportional-derivative (PD) computed torque control scheme is proposed for trajectory tracking. With the help of the virtual prototype builded in ADAMS software and used in MATLAB software, the co-simulation is accomplished and the results validate the performance of the controller proposed in this paper.
To improve the efficiency of nano-electronic device fabrication, a new method named floating electrical potential assembly is proposed to realize large-scale assembly of Cu/CuO nanowires, The simulation of floating el...
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To improve the efficiency of nano-electronic device fabrication, a new method named floating electrical potential assembly is proposed to realize large-scale assembly of Cu/CuO nanowires, The simulation of floating electrical potential distribution on the micro-electrode chip is performed by COMSOL software, and the simulation result shows that the coupled electrical poten- tial on the floating drain electrodes is very close to the original electrical potential applied on the gate electrode, whicb means that the method can provide di-electrophoresis （DEP） force for all the electrode pairs at one time, thus realizing large-scale as- sembly at one time. With Cu/CuO nanowires well dispersed and micro-electrode chip fabrication, nanowires assembly experiments are performed and the experimental results show that Cu/CuO nanowires are assembled at hundreds of micro-electrodes pairs at one time, and the success rate of nanowires assembly also reaches 90%.
This paper proposes an adaptive frequency hopping (AFH) approach that allows Industrial Wireless Sensor Networks (IWSNs) to cognitively switch working channels for high transmission reliability. Assuming the communica...
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This paper proposes an adaptive frequency hopping (AFH) approach that allows Industrial Wireless Sensor Networks (IWSNs) to cognitively switch working channels for high transmission reliability. Assuming the communication spectrum state follows a Markov Process (MP), we build a theoretical AFH framework based on the theory of Markov Decision Process (MDP). With this decision-theoretic framework, we can achieve an AFH strategy that maximizes the expected cumulative transmission reliability over a finite horizon. Judging the high computational complexity of the proposed MDP model, we further propose a myopic AFH with reduced complexity by assuming that each channel evolves independently. Without additional computation burdens or control messages exchange between sensors, the proposed AFH strategies are centrally computed by the network manager. Simulations finally demonstrate the efficiency of the proposed AFH strategies.
In this paper, a discrete-time Zhang neural network (DTZNN) model, discretized from continuous-time Zhang neural network, is proposed and investigated for performing the online future minimization (OFM). In order to a...
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In this paper, a discrete-time Zhang neural network (DTZNN) model, discretized from continuous-time Zhang neural network, is proposed and investigated for performing the online future minimization (OFM). In order to approximate more accurately the 1st-order derivative in computation and discretize more effectively the continuous-time Zhang neural network, a new Taylor-type numerical differentiation formula, together with the optimal sampling-gap rule, is presented and utilized to obtain the Taylor-type DTZNN model. For comparison, Euler-type DTZNN model and Newton iteration, with an interesting link being found, are also presented. Moreover, theoretical results of stability and convergence are presented, which show that the steady-state residual errors of the presented Taylor-type DTZNN model, Euler-type DTZNN model and Newton iteration have a pattern of 0(t3), 0(t2) and 0(t), respectively, with t denoting the sampling gap. Numerical experimental results further substantiate the effectiveness and advantages of the Taylor-type DTZNN model for solving the OFM problem.
This paper provides an innovative design for a gliding robotic dolphin. In order to realize high maneuverability and long endurance, the robotic dolphin combines the advantages of both robotic dolphins and underwater ...
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ISBN:
(纸本)9781467396769
This paper provides an innovative design for a gliding robotic dolphin. In order to realize high maneuverability and long endurance, the robotic dolphin combines the advantages of both robotic dolphins and underwater gliders. It can not only realize fast and flexible dolphin-like swimming depending on the powerful propulsive posterior body and fluke, but also implement gently and durable gliding motion due to the buoyancy-driven system. More importantly, the controllable pectoral fins and horizontal fluke can effectively complete the attitude adjustment, so traditional internal movable masses could be removed for saving a considerable space. Besides, the hydrodynamic analysis in the steady gliding motion is executed and hydrodynamic coefficients including lift, drag, and pitching moment are also obtained through Computational Fluid Dynamics (CFD) method. Finally, extensive experiments including dolphin-like swimming, spiraling motion and gently gliding motion illustrate the great locomotion ability of the developed gliding robotic dolphin.
The coordinated tracking problem of networked Euler-Lagrange systems is studied in this *** to the knowledge of classical control,an integral term can eliminate the steady-state error when solving the tracking problem...
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ISBN:
(纸本)9781479947249
The coordinated tracking problem of networked Euler-Lagrange systems is studied in this *** to the knowledge of classical control,an integral term can eliminate the steady-state error when solving the tracking problem.A proportional-integral-derivative(PID)tracking protocol is then rst proposed to solve the tracking problem of Euler-Lagrange systems where the leader has a quadratic *** properly choosing parameters,it is proved that all followers can asymptotically track the leader’s quadratic trajectory if the communication topology graph has a spanning ***,a so-called PImD tracking protocol is derived by adding some high-order integral *** is shown that this PImD tracking protocol can solve the tracking problem of networked Euler-Lagrange systems with a leader having the higher-order polynomial ***,two simulation examples are presented to demonstrate the effectiveness of the proposed protocol.
Because the new approach cannot be applied directly in the hot-rolled strip laminar cooling process, a simulation is necessary to verify the new approach effectively which can improve the strip quality and production ...
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In this paper,a group consensus problem is investigated for multiple networked agents with parametric uncertainties where all the agents are governed by the Euler-Lagrange system with uncertain *** the group consensus...
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In this paper,a group consensus problem is investigated for multiple networked agents with parametric uncertainties where all the agents are governed by the Euler-Lagrange system with uncertain *** the group consensus problem,the agents asymptotically reach several different states rather than one consistent state.A novel group consensus protocol and a time-varying estimator of the uncertain parameters are proposed for each agent in order to solve the couple-group consensus *** is shown that the group consensus is reachable even when the system contains the uncertain ***,the multi-group consensus is discussed as an extension of the couple-group consensus,and then the group consensus with switching topology is *** results are finally provided to validate the effectiveness of the theoretical analysis.
In this paper, a general linear time-varying multiple-axis (LTVMA) vibration model of shield tunnel boring machine (TBM) cutterhead driving system is established. The corresponding multiple inputs and multiple outputs...
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In this paper, a general linear time-varying multiple-axis (LTVMA) vibration model of shield tunnel boring machine (TBM) cutterhead driving system is established. The corresponding multiple inputs and multiple outputs (MIMO) state-space model is also presented. The linear vibration model is analysed, and the vibration-torque transfer function matrix and the vibration-torque static gain matrix are obtained. The linear vibration model is simulated, and the physical parameters' effects on the vibration response are investigated. A preliminary approach is proposed to reduce vibration by increasing motor rotor inertia and viscous damped. The LTVMA vibration model provides a solid foundation for fault detection and diagnosis (FDD), as long as the health monitoring of cutterhead driving system.
Purpose–Artificial bee colony(ABC)algorithm is a relatively new optimization method inspired by the herd behavior of honey bees,which shows quite *** purpose of this paper is to propose an improved ABC optimization a...
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Purpose–Artificial bee colony(ABC)algorithm is a relatively new optimization method inspired by the herd behavior of honey bees,which shows quite *** purpose of this paper is to propose an improved ABC optimization algorithm based on chaos theory for solving the push recovery problem of a quadruped robot,which can tune the controller parameters based on its search *** simulation environment is adopted to implement the proposed scheme for the quadruped ***/methodology/approach–Maintaining balance is a rather complicated global optimum problem for a quadruped robot which is about seeking a foot contact point prevents itself from falling *** ensure the stability of the intelligent robot control system,the intelligent optimization method is *** proposed chaotic artificial bee colony(CABC)algorithm is based on basic ABC,and a chaotic mechanism is used to help the algorithm to jump out of the local optimum as well as finding the optimal *** implementation procedure of our proposed chaotic ABC approach is described in ***–The proposed CABC method is applied to a quadruped robot in ADAMS *** the CABC to implement,the quadruped robot can work smoothly under the interference.A comparison among the basic ABC and CABC is *** results verify a better trajectory tracking response can be achieved by the proposed CABC method after control parameters *** implications–The proposed CABC algorithm can be easily applied to practice and can steer the robot during walking,which will considerably increase the autonomy of the ***/value–The proposed CABC approach is interesting for the optimization of a control scheme for quadruped robot.A parameter training methodology,using the presented intelligent algorithm is proposed to increase the learning *** experimental results verify the system stabilization,favorable performance and no chattering phenomena can be
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