The recently developed PERIODIC SYSTEMS Toolbox for MATLAB is described. The basic approach to develop this toolbox was to exploit the powerful object manipulation features of MATLAB via flexible and functionally rich...
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Symbolic preprocessing techniques are very useful to obtain low order LFT-representations for parametric models. in this paper we give an overview about existing preprocessing methods and we present new techniques and...
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This paper presents a surface Electromyography (EMG) motion pattern classifier which combines Levenberg-Marquardt (LM) based neural network with parametric Autoregressive (AR) model. This motion pattern classifier can...
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This paper addresses the development of aircraft models for flight loads analysis in the pre-design stage. The underlying model structure consists of the nonlinear equations of motion of a free flying, flexible aircra...
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In this work an approach for simulation of a large passenger aircraft with high precision equations of motion and a new method of dynamic loads calculation is presented, which can be used for maneuver and gust loads a...
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A stationary frame-based synchronous digital current control for a Surface Mounted Permanent Magnet Synchronous Motor (PMSM) drive of integrated servo actuators is considered. A two phase stator stationary coordinate ...
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ISBN:
(纸本)9075815085
A stationary frame-based synchronous digital current control for a Surface Mounted Permanent Magnet Synchronous Motor (PMSM) drive of integrated servo actuators is considered. A two phase stator stationary coordinate frame realization synchronous current controller with the anti-windup is presented. A simple implementation of Space Vector PWM algorithms which provide continuous transition from sinusoidal PWM to six-step operation PWM mode is developed to enhance the current dynamic performance.
Robotic systems are used to support manned spaced missions as well as autonomous space exploration. For preparation of future robotic systems the Robotic Component Verification on-board ISS (ROKVISS) project, funded b...
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Robotic systems are used to support manned spaced missions as well as autonomous space exploration. For preparation of future robotic systems the Robotic Component Verification on-board ISS (ROKVISS) project, funded by DLR is, currently running on board ISS. In this project several core elements (e.g. robotic joints, central controller, sensor (camera) systems) of a robotic system were installed outside and inside the Russian service module and are currently operated using several ground stations. The robotic joints and the cameras placed outside the service module are controlled by the central controller which is located inside the service module. The controller is connected to the ground station via an S-band transmitter/receiver system also placed outside the Russian SM. While supervised by the on-board ISS data handling system the joints and the cameras can be operated from ground. The paper and the presentation will focus on the assembly and operation of the ROKVISS elements. Starting with a comprehensive summary of the elements used, emphasis will be put on the assembly of these elements. The IVA and EVA activities for installation will be described as well as the operation of the robotic elements. After a description of the different operational modes including the ground control centres involved, examples of the operation are shown.
This paper proposes an accurate kinesthetic haptic display method for a multi-DOF haptic interface. Position-position (p-p) architecture plays an important role in a haptic interface like four channel architecture sin...
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Current navigation systems for agricultural vehicles rely on GPS as the primary sensor for steering control. In citrus groves, where the tree canopy frequently blocks the satellite signals to the GPS receiver, an alte...
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Current navigation systems for agricultural vehicles rely on GPS as the primary sensor for steering control. In citrus groves, where the tree canopy frequently blocks the satellite signals to the GPS receiver, an alternative method is required. This paper discusses the development of an autonomous steering system for use in a citrus grove. The vehicle used was a common tractor. The navigation sensor system consisted of machine vision, laser radar and rotary encoder. Machine vision was used primarily for guidance, while laser radar can be used for both guidance and obstacle detection. A rotary encoder was used to feedback steering angle information. A proportional-integral-derivative controller was developed to minimize the path error. A common PC was used to process the sensor information and execute the control. The vehicle was tested in flexible test paths constructed of common hay bales. Path tracking performance was observed. Performance was estimated using RMS error and average instantaneous error. The guidance system guided the tractor automatically through straight and curved paths. An average error of 2.8 cm using machine vision guidance and an average error of 2.5 cm using ladar guidance was observed, when the vehicle was tested in a curved path at a speed of 3.1 m/s. The guidance system has successfully guided the vehicle in a citrus grove alleyway.
A new structure for model inversion and tracking control tasks is introduced. It represents a two-degree of freedom controller, which unifies the principle of feedforward exact and high-gain feedback inversion, while ...
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A new structure for model inversion and tracking control tasks is introduced. It represents a two-degree of freedom controller, which unifies the principle of feedforward exact and high-gain feedback inversion, while preserving advantages of each.
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