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Testbed for modeling and inventory regulation of dynamic supply chains

Testbed for modeling and inventory regulation of dynamic sup...

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International Conference on Electrical engineering, Computing Science and Automatic Control (CCE)

作者： A. Rodriguez-Angeles R. Guadarrama-Mendoza A. Morales-Diaz Department of Electrical Engineering Mechatronics Group CINVESTAV Mexico Distrito Federal Mexico Robotics and Advanced Manufacturing Group CINVESTAV Mexico

There exist several ways to model supply chain systems, from discrete models to stochastic ones. Among them there is a modeling approach based on traffic flow theory which considers inventory levels and material flows. The resulting models are linear, although they are subject to constraints such as maximum production rates, as well as non negative inventory values and material flows. These constraints must be taken into account when designing a control strategy. In previous works of the authors a bounded PI control for inventory level regulation was introduced. The closed loop system was therefore a non liner one, due to the control boundaries. A stability analysis of the closed loop system based on linearization techniques was performed resulting in sufficient conditions for local asymptotic stability. Besides the theoretical framework the work was supported by numerical simulations on a petrochemical plant. In this work a testbed platform form by water tanks is developed. The systems allows applying the proposed modeling and control techniques, such that the experimental results agree with the simulated ones.

关键词： Supply chains Nickel Materials Stability analysis Mathematical model Convergence

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A generic configuration of a compact dexterous and self-contained end-effector for mobile robotic platforms

A generic configuration of a compact dexterous and self-cont...

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International Workshop on Robot Sensing (ROSE)

作者： Paul M. Moubarak Pinhas Ben-Tzvi Zhou Ma Robotics and Mechatronics Laboratory Department of Mechanical and AeroSpace Engineering George Washington University Washington D.C. DC USA

This paper presents a new design of a compact end-effector for mobile robotic platforms that provides dexterous heavy duty gripping and handling of tasks by means of on-board manipulator arms. The merit of the proposed work lies in the novel concept we adopted in combining dexterity with strength and speed in a compact, self-contained and generic structure. The generic aspect of the design approach facilitates the implementation of this robotic end-effector on various manipulators with minor modifications to the overall robot structure. We discuss design layouts, capabilities and implementation aspects on manipulator arms of mobile robotic platforms.

关键词： Fingers Assembly Joints Manipulators Gears Robot sensing systems

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Waste management practices used in the attempt to protect the environment

Waste management practices used in the attempt to protect th...

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作者： Bacinschi, Zorica Rizescu, Cristiana Zizi Stoian, Elena Valentina Necula, Cezarina Department of Material Sciences Mechatronics and Robotics Valahia University from Targoviste Blvd. Unirii No. 18 Targoviste-Dambovita Romania Department of Environmental Engineering and Biotechnologies Valahia University from Targoviste Blvd. Unirii No. 18 Targoviste-Dambovita Romania

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.

关键词： Radioactivity

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Computer-aided designing optimization of bevel gearings

Computer-aided designing optimization of bevel gearings

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作者： Popa, Ion-Florin Duta, Luminita Patic, Ciprian-Paul Department of Material Engineering Mechatronics and Robotics Valahia University from Targoviste Blvd. Carol I no. 2 Tagoviste-Dambovita Romania Department of Automatics and Informatics Valahia University from Targoviste Blvd. Carol I no. 2 Tagoviste-Dambovita Romania

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.

关键词： Application programs

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Motion planning of a snake-like robot based on artificial potential method

Motion planning of a snake-like robot based on artificial po...

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IEEE International Conference on robotics and Biomimetics

作者： Changlong Ye Deli Hu Shugen Ma Huaiyong Li State Robotics Laboratory Shenyang Institute of Automation Shenyang China School of Mechatronics Engineering Shenyang AeroSpace University Shenyang China State Robotics Laboratory Shenyang Institute of Automation China Department of Robotics Ritsumeikan University Kusatsu Japan

ISBN: (纸本)9781424493197

The interaction between the snake-like robot and environment produces serpentine action to push the body forward. A slender body shape made from many modules occupies a larger scale. In this paper, snake-like robot motion planning method is analyzed by considering each module's position and its movement as well as position of obstacles. The Potential Energy Function between each module and obstacles is established by using artificial potential method as well as the Potential Energy Function between snake head and the target. With the potential energy function feedback to control the pendulum angle of serpentine movement, the snake-like robot motion planning in the obstacles environment is completed. The adjacent joint adjustment is achieved for movement stability during obstacle avoidance control. Finally, the simulation results verified the effectiveness of proposed path planning method.

关键词： Robots Force Mathematical model Equations Joints Collision avoidance Potential energy

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Incremental motion primitive learning by physical coaching using impedance control

Incremental motion primitive learning by physical coaching u...

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2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Dongheui Lee Christian Ott Department of Electrical Engineering and Information Technology Technical University Munich Munich Germany Institute of Robotics and Mechatronics German Aerospace Center Wessling Germany

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.

关键词： Robots Joints Hidden Markov models Impedance Trajectory Humans Education

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IEEE Conference on Vehicular Technology (VTC)

作者： Neal Y. Lii Stefan Sturm Timothy A. Coombs Institute of Robotics and Mechatronics German AeroSpace Center Oberpfaffenhofen Germany BMW Group Munich Germany Department of Engineering University of Cambridge Cambridge UK

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.

关键词： Sensor fusion Degradation Fault tolerance Testing Redundancy Force measurement Force sensors Displacement measurement Fuses Kinetic theory

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Dynamic analysis of a flexure-based mechanism for precision machining operation

Dynamic analysis of a flexure-based mechanism for precision ...

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International Conference on Control, Automation, robotics and Vision (ICARCV)

作者： Yanling Tian Dawei Zhang Bijan Shirinzadeh School of Mechanical Engineering Tianjin University TJU Tianjin China Robotics and Mechatronics Research Laboratory Department of Mechanical and Aerospace Engineering Monash University Clayton VIC Australia

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.

关键词： Piezoelectric actuators Dynamics Force Fasteners Machining Springs Robots

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Pseudo control hedging and its application for safe flight envelope protection

Pseudo control hedging and its application for safe flight e...

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AIAA Guidance, Navigation, and Control Conference

作者： Lombaerts, T.J.J. Looye, G.H.N. Chu, Q.P. Mulder, J.A. Delft University of Technology P.O. Box 5058 2600 GB Delft Netherlands German Aerospace Center DLR Münchner Straße 20 82234 Wessling Germany Control and Simulation Division Faculty of Aerospace Engineering Germany Institute of Robotics and Mechatronics Department of System Dynamics and Control Germany

ISBN: (纸本)9781600869624

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. This PCH algorithm adapts the reference model for the system output in case of unachievable commands due to control input saturation. As an example, this algorithm has been applied in the pitch rate and velocity control loops of a high fidelity Boeing 747 simulation model where its beneficial influence has been illustrated. The nonlinear adaptive control law used for this example is a triple layered nonlinear dynamic inversion algorithm, based upon the concept of time scale separation. Copyright © 2010 by the authors.

关键词： Flight envelopes

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Comparison of two baseline-free damage detection techniques based on lamb waves propagation phenomena

Comparison of two baseline-free damage detection techniques ...

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5th European Workshop on Structural Health Monitoring 2010

作者： Klepka, A. Uhl, T. Stepinski, T. Ambrozinski, L. Ochonski, J. Staszewski, Wieslaw J. Department of Robotics and Mechatronics AGH University of Science and Technology Al. Mickiewicza 30 30-059 Kraków Poland Department of Mechanical Engineering Sheffield University Mappin Street Sheffield S1 3JD United Kingdom Signals and Systems Uppsala University PO Box 534 SE-751 21 Uppsala Sweden

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.

关键词： Damage detection

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