In this paper the authors study the applicability of Artificial Neural Networks for the modelling of a widely used particular welding process in automotive industry: pulsed gas metal welding process (GMAW-P). Applying...
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In this paper the authors study the applicability of Artificial Neural Networks for the modelling of a widely used particular welding process in automotive industry: pulsed gas metal welding process (GMAW-P). Applying this artificial intelligence technology requires the introduction of input and output data to the network. To achieve this, an experiment was designed and performed. The main functions of the proposed model are: to simulate the process for purposes of training operators;to improve welding process performance by identifying regions that are insensible to variations on input parameters;and finally to increase the flexibility of a robotic welding cell. The concrete benefits obtained from the GMAW-P process model development are: optimization of critical variables of the welding process, support for development of virtual process and prototypes, definition of a robust welding procedure, quick response to product change and support in welding training.
Nitrides of transition metals, such as Ti, attract significant interest since they find a wide field of applications ranging from cutting tools to electronic device applications. Titanium nitride is broadly used as a ...
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Physical and mechanical properties of pure titanium are improved when the material is mixed with aluminum and vanadium at specific concentrations. Specifically, the alloy composed by 90% of titanium, 6% of aluminum an...
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This paper presents the design and implementation of autonomous cleaning system algorithm for Dubai International Airport. Different approaches were presented to build the locomotion platform for an autonomous cleanin...
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This paper presents the design and implementation of autonomous cleaning system algorithm for Dubai International Airport. Different approaches were presented to build the locomotion platform for an autonomous cleaning system cleaning. Two types of controllers were discussed to achieve the design objectives: conventional gain scheduled PID controller, and fuzzy PID controller. Tests have been conducted for the PID fuzzy controller in the preliminary design analysis.
In this paper, the employment of neural networks with sliding mode control in the control of a linear drive with flexible transmission element is described. Linear drives with flexible transmission elements are cheape...
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In this paper, the employment of neural networks with sliding mode control in the control of a linear drive with flexible transmission element is described. Linear drives with flexible transmission elements are cheaper and also more efficient than the ones with rigid transmissions like power screw systems. Hence, these devices play an important role in the industry. A neuro-sliding mode controller cascaded with a discrete sliding mode controller is used to control the system. Neuro-sliding mode controller is used in the outer loop and produces reference for the discrete sliding mode controller which serves as a force controller, in the inner loop. The control signal of the neuro-controller is obtained by minimizing an error function which is derived from Lyapunov stability analysis. The controller performance is tested with different loading conditions and different friction torques and the results are presented.
The positioning problem of mobile robot is an important part of control problem for mobile robot. Dead Reckoning is widely used for positioning of mobile robot. However this method has problems because it accumulates ...
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In this paper, the position of a mobile robot using DGPS(Differential GPS) and UPS(UItrasonic Positioning System) is measured and the performance of UPS is analyzed using DGPS. UPS is absolute positioning system using...
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Tools and mechanics are subjected to stresses in short time periods and sometimes to corrosive atmospheres, which shortens their useful lifetime. Therefore it becomes necessary to improve the mechanical properties of ...
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Recent years witnessed a growing interest in biped walking robots because of their advantageous use in the human environment. However, their control requires many problems to be solved because of the many degrees of f...
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Recent years witnessed a growing interest in biped walking robots because of their advantageous use in the human environment. However, their control requires many problems to be solved because of the many degrees of freedom and nonlinearity in their dynamics. The so-called open loop walking with offline trajectory generation is one of the control approaches in the literature. There are various difficulties involved in this approach, the most important one being the difficulty in tuning the gait parameters. This paper proposes an online fuzzy adaptation scheme for one of the trajectory parameters in the offline generated walking pattern. A fuzzy identifier system, represented as a three-layer feed-forward neural network is employed to compute the parameter as a function of time in simulations. Fuzzy system parameters are adapted via back-propagation. Virtual torsional springs are attached to the trunk center of the biped. The torque generated by the springs serve as the criterion for the tuning and they help maintaining a stable and a longer walk which is necessary for the online tuning process. 3D simulation and animation techniques are employed for a 12-DOF biped robot to test the proposed adaptive method.
The positioning problem of mobile robot is an important part of control problem for mobile robot. Dead Reckoning is widely used for positioning of mobile robot. However this method has problems because it accumulates ...
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ISBN:
(纸本)0780387309
The positioning problem of mobile robot is an important part of control problem for mobile robot. Dead Reckoning is widely used for positioning of mobile robot. However this method has problems because it accumulates estimation errors. In this paper, we propose a new method to increase the accuracy of estimated position using the U-SAT (Ultrasonic Satellite system). U-SAT is composed of a distance measurement using ultrasonic wave and the position acquisition in the world coordinate using the GPS. It is shown that we will be able to estimate the position of mobile robot precisely, in which errors are not accumulated. The experimental results show that the proposed method is enable to estimate the position of the mobile robot.
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