control of tele-operated remote robot's is nothing new;the public was introduced to this 'new' field in 1986 when the Chernobyl cleanup began. Pictures of weird and wonderful robotic workers pouring concre...
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ISBN:
(纸本)9780958758383
control of tele-operated remote robot's is nothing new;the public was introduced to this 'new' field in 1986 when the Chernobyl cleanup began. Pictures of weird and wonderful robotic workers pouring concrete or moving rubble flooded the world. Integration of force feedback or 'haptics' to remote robot's is a new development and one that is likely to make a big difference in manmachine interaction. Development of haptic capable tele-operation schema is a challenge. Often platform specific software is developed for one off tasks. This research focussed on the development of an open software platform for haptic control of multiple remote robotic platforms. The software utilises efficient server/client architecture for low data latency, while efficiently performing required kinematic transforms and data manipulation in real time. A description of the algorithm, software interface and hardware is presented in this paper. Preliminary results are encouraging as haptic control has been shown to greatly enhances remote positioning tasks.
This paper presents the hardware implementation of a neural network controller for a nonlinear system. As a learning algorithm for a neural network, the reference compensation technique has been implemented on a low c...
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In this study a new algorithm for 3D surface reconstruction from multiple images using a modified photometric stereo method is proposed and tested. The new algorithm, Filtered Lambert Photometric Stereo (FLPS), determ...
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ISBN:
(纸本)9781424456536
In this study a new algorithm for 3D surface reconstruction from multiple images using a modified photometric stereo method is proposed and tested. The new algorithm, Filtered Lambert Photometric Stereo (FLPS), determines the non-Lambert pixels in the availab.e images using a linearity test and constructs filtering masks for each image that corresponds to specular and self or cast shadow regions. Then, the photometric stereo is applied after eliminating the points in these masks. Tests carried out on synthetic images show that LPS on filtered images is a feasible solution when more than 4 images are availab.e.
This study investigates the consensus control issue in discrete-time linear multi-agent systems(MASs) using data-driven control under undirected communication networks. To alleviate the communication burden, an adapti...
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This study investigates the consensus control issue in discrete-time linear multi-agent systems(MASs) using data-driven control under undirected communication networks. To alleviate the communication burden, an adaptive event-triggered control strategy involving only local information is proposed and a model-based stability condition is derived that guarantees the asymptotic consensus of MASs. Furthermore,a data-based consensus condition for unknown MASs is established by combining a data-based system representation with the model-based stability condition, using only pre-collected noisy input-state data instead of the accurate system information a priori. Specifically, both model-based and data-driven event-triggered controllers can be utilized without requiring any global information. The validity and correctness of the controllers and associated theoretical results are demonstrated via numerical simulations.
A novel control technique of brushless dc motors is proposed in this paper. The design of the fuzzy controller combined with a gray predictor is used to improve the response of a brushless dc motor. Using a gray predi...
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A novel control technique of brushless dc motors is proposed in this paper. The design of the fuzzy controller combined with a gray predictor is used to improve the response of a brushless dc motor. Using a gray predictor to predict the speed errors of the motor and then a compensated energy will be generated which can be used in adjustment of the control energy of the system. Simulation results show that the performance of the control energy and the motor speed is ameliorated.
As to product design itself has quite complexity and many domain influence factors are integrated in concurrent design (CD), conflict phenomena exists in any process of carrying out CD. Conflict elimination is an impo...
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As to product design itself has quite complexity and many domain influence factors are integrated in concurrent design (CD), conflict phenomena exists in any process of carrying out CD. Conflict elimination is an important key to carrying out CD effectively. Conflict usually relates to many members in multi-function group of CD. Negotiation that is a process of multiple iteration and repeated alternation is utilized in CD conflict elimination. Many objects and constraints are considered in the process of negotiation and it is very hard to have no problem in the process of calculation, reasoning, evaluation and decision-making. As to the updating error is a tracing process and a lot of work done before is needed to repeat, efficiency of conflict elimination is very low. In this paper, a method of conflict elimination of product CD based on blackboard model is put forward. Design conflict producing, system and mechanism of conflict elimination based on blackboard model are analyzed and described. It takes gear CD conflict elimination as an example to illustrate the concrete application of the method and system.
With the increasing of global market competition and dynamic change of market environment, consumer needs are more personal and diversified, enterprise production is more flexible. At present, the production cycle per...
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With the increasing of global market competition and dynamic change of market environment, consumer needs are more personal and diversified, enterprise production is more flexible. At present, the production cycle period of traditional manufacturing industry is long, delivering goods is not in time, product quality is not good and resource are not used in reason. Because of the phenomena, products are not met the requirements of market and lack of market competition ability. For changing the situation, the development direction is building concurrent agility dynamic alliance of product development. So this paper puts forward an improved fuzzy reform optimization method of design task in Concurrent engineering (CE). Using this method, enterprise can develop product rapidly to satisfy consumer requirements and have high quality, low cost, reasonable price and good service, that is because it can assign right task to right person in right time for shortening development time of product.
Previous epidemiological researches have studied HFMD transmission pattern, but the study on the patients mobility pattern while seeking treatment is absent. In this paper, we present a statistical analysis of the spa...
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In this paper, a new fuzzy reaching law for discrete-time variable structure controlsystems is developed. Based on this law, a discrete controller and its control algorithm that satisfies the Lyapunov stability can b...
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In this paper, a new fuzzy reaching law for discrete-time variable structure controlsystems is developed. Based on this law, a discrete controller and its control algorithm that satisfies the Lyapunov stability can be easily derived and developed. Compare with the traditional reaching law, the new fuzzy reaching law we proposed has much better performance. The steady state error caused by delay of sampling of discrete system could be greatly reduced.
Radio fingerprint matching localization method promises high localization accuracy but requires extensive infrastructural effort and search operations. This paper proposes a new search strategy for radio fingerprint m...
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