A wireless communication method with dynamic adding nodes for Underground Search and Rescue robot is proposed： fix the address of the controller, add repeater nodes into the net dynamically, and shift the address of ...
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A wireless communication method with dynamic adding nodes for Underground Search and Rescue robot is proposed： fix the address of the controller, add repeater nodes into the net dynamically, and shift the address of the mobile terminal. With this method, the Search and Rescue robot can reach the deeper place of a mine to help rescue and keep in touch with the controller through wireless communication in a single channel, even in a complex laneway where radio wave cannot go through the thick wall. The collision in the process of the two-way multi-hop communication in the single channel will also be resolved by the communication direction priority and response signal mechanism, to enhance the reliability of communication. Finally, a sample is designed and an experiment is conducted to verify the efficiency of the method.
This paper presents the dynamic modelling and performance evaluation methodologies of a flexure-base mechanism for ultra-precision grinding operations. The mechanical design of the mechanism is briefly described. A pi...
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This paper presents the dynamic modelling and performance evaluation methodologies of a flexure-base mechanism for ultra-precision grinding operations. The mechanical design of the mechanism is briefly described. A piezoelectric actuator is used to drive the moving platform. A flexure-based structure is utilized to guide the moving platform and to provide preload for the piezoelectric actuator. By simplifying the Hertzian contact as a linear spring and damping component, a bilinear dynamic model is developed to investigate the dynamic characteristics of the flexure-based mechanism. Based on the established model, the separation phenomenon of the moving platform from the piezoelectric actuator is analyzed. The influence of the control voltage on the maximum overshoot is also investigated. The slope and cycloidal command signals are used to reduce and/or avoid the overshoot of such flexure-based mechanism under step command signal actuation condition. The effects of the rising time of the command signals on the maximum overshoot and the settling time are studied.
We present an approach for kinesthetic teaching of motion primitives for a humanoid robot. The proposed teaching method allows for iterative execution and motion refinement using a forgetting factor. During the iterat...
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We present an approach for kinesthetic teaching of motion primitives for a humanoid robot. The proposed teaching method allows for iterative execution and motion refinement using a forgetting factor. During the iterative motion refinement, a confidence value specifies an area of allowed refinement around the nominal trajectory. A novel method for continuous generation of motions from a hidden Markov model (HMM) representation of motion primitives is proposed, which incorporates relative time information for each state. On the real-time control level, the kinesthetic teaching is handled by a customized impedance controller, which combines tracking performance with soft physical interaction and allows to implement soft boundaries for the motion refinement. The proposed methods were implemented and tested using DLR's humanoid upper-body robot Justin.
Dissimilar sensor redundancy with force and displacement measurements can provide extended fault coverage for drive-by-wire applications. However, large variances occur when correlating these inputs in dynamic measure...
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Dissimilar sensor redundancy with force and displacement measurements can provide extended fault coverage for drive-by-wire applications. However, large variances occur when correlating these inputs in dynamic measurements. To address this issue, this paper introduces a novel fault tolerant sensor fusion concept to fuse redundant kinetic and kinematic sensors dynamically and accurately. It consists of a driver input condition classifier, and a graceful degradation scheme voter. The classifier determines the states of several driver input conditions in real-time, which are then utilized as a pointers to allocate the best fitting driver input kinetic-kinematic response profile during dynamic operation for sensor data conversion. The graceful degradation voter module facilitates voting and fusing of the converted redundant sensor data. Functional safety is further maintained through a graceful degradation scheme to tolerate the presence of different fault scenarios in the system. The proposed sensor fusion concept is implemented on a brake-by-wire pedal test bed. Test results show significant performance gains in driver command accuracy for fault-tolerant dissimilar redundant sensor fusion.
Waste management is the collection, transport, processing, recycling or disposal, and monitoring of waste materials. The term usually relates to materials produced by human activity, and is generally undertaken to red...
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ISBN:
(纸本)9789604742035
Waste management is the collection, transport, processing, recycling or disposal, and monitoring of waste materials. The term usually relates to materials produced by human activity, and is generally undertaken to reduce their effect on health, the environment or aesthetics. Waste management is also carried out to recover resources from it. Waste management can involve solid, liquid, gaseous or radioactive substances, with different methods and fields of expertise for each. Waste management practices differ for developed and developing nations, for urban and rural areas, and for residential and industrial producers. Management for non-hazardous residential and institutional waste in metropolitan areas is usually the responsibility of local government authorities, while management for non-hazardous commercial and industrial waste is usually the responsibility of the generator.
The paper proposes to present a working methodology specific to engineering field, the scope representing the automatization of the entire conceptual cycle of a product. Thus, starting from pre-dimensioning comportati...
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ISBN:
(纸本)9789549260014
The paper proposes to present a working methodology specific to engineering field, the scope representing the automatization of the entire conceptual cycle of a product. Thus, starting from pre-dimensioning comportations of the product (using application software like: Turbo Pascal, C++, MathCad), a database or a data file is being created that is taken by a graphical application (AutoCAD, AutoLisp, Solid Works) which can automatically generate the design of product both in 2D and 3D. eventually, optimization is achieved by numerical simulation of the product behaviour under different specific strains. Depending on the results obtained, the cycle can be restarted, lither by changing the input data and by changing the database that generates the size values of the respective product. The final scope of the paper is to present a way of reducing the time from the conceptual phase to the starting-up phase of a product on the market, interfering within the designing-checking-optimization area by automatization the specific activities, using computation techniques.
This paper describes how the previously developed concept of Pseudo Control Hedging (PCH) can be integrated in a Fault Tolerant Flight Controller (FTFC) as a safe flight envelope protection system of the first degree....
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This paper presents setting up experimental systems based on M A TX in laboratories and undergraduate school. This configuration has advantages of introduction cost, maintenance fee, easy reconstruction compared with ...
This paper presents setting up experimental systems based on M A TX in laboratories and undergraduate school. This configuration has advantages of introduction cost, maintenance fee, easy reconstruction compared with commercial equipments. The advantages and effectiveness of the proposed experimental system configuration are demonstrated in this paper by using a Furuta pendulum system as an example.
This paper gives an overview of the development of a novel biped walking machine. The robot is designed as an experimental system for studying biped locomotion based on torque controlled joints. As an underlying drive...
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This paper gives an overview of the development of a novel biped walking machine. The robot is designed as an experimental system for studying biped locomotion based on torque controlled joints. As an underlying drive technology, the torque controlled joint units of the DLR-KUKA-Lightweight-Robot are employed. The relevant design choices for using this technology in a biped robot with integrated joint torque sensors are highlighted and some first experimental results using a conventional ZMP based control scheme are discussed.
In the article, two baseline-free damage detection and localisation methods are compared. Both are based on the signal processing acquired signals from a sensor grid located on the structure. The first algorithm uses ...
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ISBN:
(纸本)9781605950242
In the article, two baseline-free damage detection and localisation methods are compared. Both are based on the signal processing acquired signals from a sensor grid located on the structure. The first algorithm uses a double element sensor grid for imaging the position of the damage. The second is based on a phased array technique, and also provides the possibility to present the analysis results in a graphical form.
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