In this paper, we develop a robot with the ability to secure human safety in human-robot collisions arising in our living and working environments. The human-symbiotic service robot using compliant hybrid joints reali...
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In this paper, we develop a robot with the ability to secure human safety in human-robot collisions arising in our living and working environments. The human-symbiotic service robot using compliant hybrid joints realizes human safety, absorbs impact force, and fulfills task. In unexpected or expected collisions with human, the arising impulse force is attenuated effectively by the proposed physical model. Owing to the displacement of the links, several recovery controls have been developed for the end-effector to maintain its desired task position after the collision. The force attenuation property has been verified through collision simulations and experiments in that the capability of the proposed passive arm in overcoming the limitations of active compliance control has been demonstrated.
This paper presents a three step concept for the structural health monitoring (SUM) of offshore wind energy plants (OWEP). At first, damage detection algorithms based on Stochastic Subspace Fault Detection Method (SSF...
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ISBN:
(纸本)9781932078718
This paper presents a three step concept for the structural health monitoring (SUM) of offshore wind energy plants (OWEP). At first, damage detection algorithms based on Stochastic Subspace Fault Detection Method (SSFD) or multivariate autoregressive (AR) modells are applied to the structure of the OWEP. Since the damage detection methods are global, it is important that the output data from the accelerometers is classified by operational and environmental conditions of the OWEP. Alternatively to the classification a predictive model of the damage indicators based on neural networks (NN) with radial basis functions (RBF) is built. If the thresholds of damage indicators are exceeded it will be verified if no sensor fault occurs during the measurements (second step). The sensor fault identification methods, based on (AR) modelling or Mutual Information Concept (Ml) are applied on the time signals from the accelerometers on the structure. If damage is discovered, the third step of the concept will be activated and a model based algorithm for damage location is applied to the structure. The localization of damage is done by the inverse eigensensitivity method. Some basic properties of the methods are demonstrated by acceleration measurements, which are obtained from a laboratory structure. The sensor fault detection algorithms were validated with data from a real wind energy plant. The results show that the damage could be well identified.
In this paper, we design an adaptive observer to estimate the nonlinear friction model with the position measurement. An adaptive observer is designed to estimate the nonlinear friction force with full-states measurem...
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The development of computational aeroacoustic (CAA) methods for high lift devices usually lacks baseline validation experiments providing detailed aerodynamic and acoustic data for representative high lift configurati...
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According to traffic accident data, the majority of severe road accidents occur at night. It is, therefore, of great importance to use available technology to contribute to road safety by improving the visual conditio...
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A controller design procedure based on sliding-mode control is adopted to automotive engine control at idle condition. The aim is to track the engine speed and the torque reserve at their reference values despite unkn...
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This letter presents delayed perturbation bounds (DPBs) for receding horizon controls (RHCs) of continuous-time systems. The proposed DPBs are obtained easily by solving convex problems represented by linear matrix in...
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This paper is on the development of a semi-active suspension control system for a light commercial vehicle and concentrates on the implementation of observer based semi-active suspension controllers for ride comfort i...
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In this paper, the feedforward controller design problem for high-precision electromechanical servo systems that execute finite time tasks is addressed. The presented procedure combines the selection of the fixed stru...
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