The field of serial link manipulators can find great benefit from recently developed analysis and design methods in the area of passive dynamics. This paper first uses a literature review to outline an increasing emph...
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ISBN:
(纸本)9780889869523
The field of serial link manipulators can find great benefit from recently developed analysis and design methods in the area of passive dynamics. This paper first uses a literature review to outline an increasing emphasis in research and development towards greater use of passive dynamic methods. Second, a method extension allowing for passive behavior analysis of serial link manipulators, simulated on a two-link robot, will demonstrate the usefulness of such methods. The extension itself will allow for greater investigation into the passive dynamics of serial link manipulators, allowing for characteristics such as actuator efficiency and overall bandwidth capabilities to be analyzed during force and motion tasks. The information presented in this paper will contribute to the passive dynamic methods available as well as promote further investigation into the field of research.
Development of a cascade controller structure including adaptive backstepping for a nonlinear hydraulic-mechanical system is considered in this paper where a dynamic friction (LuGre) model is included to obtain the ne...
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In this paper we provide an algorithm for nonlinear regular proper DAEs to derive a controller for an associated state space system assuming the algebraic variables and the error of the algebraic equations as fictitio...
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In this paper a trilateral Multi-Master-Single-Slave-System with control authority allocation between two human operators is proposed. The authority coefficient permits to slide the dominant role between the operators...
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In this paper, a new model based optimal motion controller for driving simulators is presented. Models of human perception systems in combination with a simulator dynamic model are used in the design of the optimal co...
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ISBN:
(纸本)9781467317139
In this paper, a new model based optimal motion controller for driving simulators is presented. Models of human perception systems in combination with a simulator dynamic model are used in the design of the optimal controller. The basic idea of the new approach is based on minimizing the difference between the perceived signals in the vehicle and the perceived signals in the simulator. In addition, a new approach based on the human vestibular system is used to represent the sustained acceleration for the tilt coordination. Compared to conventional motion cueing algorithms, the proposed approach provides a more realistic impression, the workspace of the simulator is better exploited and all the constraints of the driving simulator are always respected. Furthermore, a new objective quality criterion is suggested to evaluate the new approach. A comparison between the classical washout, the adaptive washout and the new optimal control strategy is carried out.
This paper focuses on the control strategy to be used to parallel hybrid electric vehicles (HEVs). A model-based strategy for the fuel-optimal control is presented. The torque split control problem of the vehicle is f...
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This paper focuses on the control strategy to be used to parallel hybrid electric vehicles (HEVs). A model-based strategy for the fuel-optimal control is presented. The torque split control problem of the vehicle is formulated as an optimal control of switched system. The optimal control problem of such switched system is formulated into two stage optimization problem. The dynamic programming is utilized to solve the optimal control action that minimizes the cost function. The simulated results indicate that this method is effective to improve the fuel economy.
Base on the research results of traditional harmonic direction leakage protection and combined with its shortcomings, proposes "Start at zero sequence voltage and its mutation, Alignment at the result of compared...
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Base on the research results of traditional harmonic direction leakage protection and combined with its shortcomings, proposes "Start at zero sequence voltage and its mutation, Alignment at the result of compared with amplitude and phase about 5th harmonic of zero sequence current" and take 80C196 as the core microcomputer application system. By selecting 6 kV high-voltage grid as a mine simulation object, simulating a leakage circuit of high-voltage power grid in arbitrary, the simulation results show the improvement of scheme's sensitivity and reliability.
when recognizing partially visible objects in a scene, a good global decision should be made based on locally gathered features for their recognition, since global information is corrupted. This local to global nature...
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ISBN:
(纸本)9781467321273;9781467321259
when recognizing partially visible objects in a scene, a good global decision should be made based on locally gathered features for their recognition, since global information is corrupted. This local to global nature of occlusion recognition leads us to spectral matching technique. Unfortunately, spectral matching algorithms are not desirable for noisy data set from cluttered scene. In this paper, a top- down procedure is introduced into spectral matching for the recognition of occluded objects. Based on the two-stage strategy, both appearance and geometric information are taken into consideration. It is shown that the improvement has been made for spectral algorithms to recognize occluded objects.
This paper presents an application of multi-robot system using nonholonomic wheeled mobile robots. These robots cooperate with each other to transport a single load which is carried without any rigid connections. Each...
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This paper presents an application of multi-robot system using nonholonomic wheeled mobile robots. These robots cooperate with each other to transport a single load which is carried without any rigid connections. Each mobile robot has a mechanical platform which consists of compliant structures to hold the load during transportation. Instead of direct communication, physical interactions are exploited as the main way of information exchange among the mobile robots. Local sensors are utilized to sense physical changes which are needed for feedback control of the mobile robots. The control system is fully decentralized and it supportsscalabilityofthemulti-robot *** control solutionwas tested extensivelyinsimulationand experiments were carried out to show the effectiveness of the controller.
Abstract Hierarchical multiobjective optimization is an effective method to compute optimal configurations of complex self-optimizing systems. The results of several optimizations of a lower level are used to simplify...
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Abstract Hierarchical multiobjective optimization is an effective method to compute optimal configurations of complex self-optimizing systems. The results of several optimizations of a lower level are used to simplify the optimization of a higher level. This can then be further accelerated by reducing the model-order of the dynamics of the lower level. In this contribution a novel approach is presented that combines the results of multiobjective optimization with parametric model-order reduction. It consists of two parts: at first, a parameterization of the Pareto-optimal systems is introduced that is based on matrix-valued spline approximations. The result is a set of parametric systems with a system matrix that linearly depends on the new parameter. Each system is then reduced by means of parametric Krylov methods. We compare three different types of parametric model-order reduction for an active suspension system.
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