检索结果-内蒙古大学图书馆

Grasping simulation of an underactuated finger mechanism for larm hand

International Journal of Modelling and Simulation 2010年第1期30卷 87-97页

作者： Yao, S. Wu, L. Ceccarelli, M. Carbone, G. Lu, Z. School of Automation Science and Electrical Engineering Beihang University Beijing China College of Information Engineering Central University for Nationalities Beijing China State Key Laboratory of Intelligent Technology and Systems Department of Computer Science and Technology Tsinghua University Beijing China Beijing University of Aeronautics and Astronautics China and University of Cassino Italy LARM: Laboratory of Robotics and Mechatronics Cassino United States

In this paper, the grasp operation of an underactuated finger mechanism is simulated with the aim to characterize and analyze its performance. The design of the proposed mechanism is based on spring systems that give suitable underactuation characteristics. A CAD model is proposed and then it is used in a procedure for numerical simulation. Simulation results show suitable capability for grasping a wide range of objects in size and shape by operating the mechanism inside the finger body. The achieved grasp has been simulated as a human-like functionality with a grasp contact in each phalanx.

关键词： computer aided design

来源：评论

学校读者我要写书评

暂无评论

Parameter identification of a Linear Permanent Magnet motor using Particle Swarm Optimization

Parameter identification of a Linear Permanent Magnet motor ...

引用

International Conference on electrical engineering/Electronics, computer, Telecommunications and Information Technology, ECTI-CON

作者： Tithiwat Therdbankerd Peerayot Sanposh Nattapon Chayopitak Hideaki Fujita Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University Bangkok Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center Klong Luang Pathum Thani Thailand Department of Electrical and Electronic Engineering Tokyo Institute of Technology Meguro Tokyo Japan

ISBN: (纸本)9781424456062;9789746724913

Accurate and effective parameter identification is an important engineering task in high performance control system design. One emerging approach to effectively identify such nonlinear or dynamic unknown parameters is to use Particle Swarm Optimization (PSO) algorithm. Linear Permanent Magnet (LPM) motor is a high performance actuator employed in many applications that require direct linear motion without mechanical transmission for high acceleration and accurate positioning. Therefore, accurate motor parameters are necessary to effectively control the LPM motors. This paper proposes a simple PSO based method with chirp inputs to identify the LPM motor's parameters. The simulations and experiments are conducted to verify the results and determine the effectiveness of the proposed method.

关键词： Parameter estimation Permanent magnet motors Particle swarm optimization Synchronous motors Signal processing robotics and automation Chirp intelligent robots Control systems Laboratories

来源：评论

学校读者我要写书评

暂无评论

Friction feedforward compensation and position feedforward in CNC machines

Friction feedforward compensation and position feedforward i...

引用

7th Annual International Conference on electrical engineering/Electronics, computer, Telecommunications and Information Technology, ECTI-CON 2010

作者： Suteeratanapirom, Wijin Rattanawaorahirankul, Rapeepong Laosapan, Chutima Sanposh, Peerayot Chayopitak, Nattapon Tungpimolrut, Kanokvate Kunieda, Hiroaki TAIST Tokyo Tech ICTES Program Department of Electrical Engineering Kasetsart University 50 Phahonyothin Rd. Ladyao Jatujak Bangkok 10903 Thailand Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University 50 Phahonyothin Rd. Ladyao Jatujak Bangkok 10903 Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center 112 Thailand Science Park Phahonyothin Rd. Klong 1 Klong Luang Pathumthani 12120 Thailand Department of Electrical and Electronic Engineering Tokyo Institute of Technology S3-65 2-12-1 Ookayama Meguro-ku Tokyo 152-8550 Japan

ISBN: (纸本)9789746724913

This research proposes a method to eliminate friction effect and reduced tracking error on CNC milling machines. A CNC milling machine has many connected mechanical components which have friction effects such as ball screws and rails. To control servo motors which are used to drive X-Y table in CNC milling machine, the conventional PID controller is widely used. In this research, Panasonic motor driver is set to the torque control mode. To compensate the friction effects, the friction feedforward compensation method is proposed. Moreover, to reduce the position tracking error, position feedforward controller is used. The simulation and implementation of position control in one axis of PID with Friction Feedforward Compensation and Position Feedforward Controller (FFC-PFC) are presented.

关键词： Friction

来源：评论

学校读者我要写书评

暂无评论

Effects of variable solar irradiance on the reactive power compensation for large solar farm

Effects of variable solar irradiance on the reactive power c...

引用

iREP Symposium on Bulk Power System Dynamics and Control

作者： Dustin F. Howard Ronald G. Harley Jiaqi Liang Ganesh K. Venayagamoorthy School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA USA Real-Time Power and Intelligent Systems Laboratory Missouri University of Science and Technology Rolla MO USA

Dish-Stirling systems are a form of concentrating solar power (CSP) emerging as an efficient and reliable source of renewable energy. Various technical hurdles are involved in the grid interconnection of dish-Stirling systems, particularly with issues related to power factor correction, low voltage ride-through capability, and reactive power planning. While there are no grid-interconnection requirements specific to dish-Stirling technology, the requirements currently established for wind farms are used as a starting point due to the similar design and operating characteristics between wind farms and dish-Stirling solar farms. A dish-Stirling solar farm requires external reactive power compensation to meet the power factor requirements presently set for wind farms. The following paper provides a brief overview of dish-Stirling technology, along with an analysis of methods for meeting power factor grid interconnection requirements and maintaining necessary voltage levels under varying irradiance conditions due to cloud cover. Simulation results for voltage and power factor of the solar farm are provided for both steady state and cloud transient conditions within a 12-bus network.

关键词： Reactive power Stirling engines Generators Induction machines Space heating

来源：评论

学校读者我要写书评

暂无评论

Nonlinear Model Predictive Control using sampling and goal-directed optimization

Nonlinear Model Predictive Control using sampling and goal-d...

引用

IEEE Conference on Control Technology and Applications (CCTA)

作者： Damion D. Dunlap Charmane V. Caldwell Emmanuel G. Collins Department of Mechanical Engineering and the Center for Intelligent Systems Control and Robotics (CISCOR) Florida Agricultural and Mechanical University Tallahassee FL USA Department of Electrical and Computer Engineering CISCOR of the FAMU-FSU COE USA Department of Mechanical Engineering CISCOR of the FAMU-FSU COE USA

In this paper a novel method called Sampling-Based Model Predictive Control (SBMPC) is proposed as an efficient MPC algorithm to generate control inputs and system trajectories. The algorithm combines the benefits of sampling-based motion planning with MPC while avoiding some of the major pitfalls facing both traditional sampling-based planning algorithms and traditional MPC. The method is based on sampling (i.e., discretizing) the input space at each sample period and implementing a goal-directed optimization method (e.g., A*) in place of standard numerical optimization. This formulation of MPC readily applies to systems with nonlinear dynamics and avoids the local minima which can limit the performance of MPC algorithms implemented using traditional, derivative-based, nonlinear programming. The SBMPC algorithm is compared with a more standard online MPC algorithm using cluttered environment navigation for an Ackerman steered vehicle and a set point problem for a nonlinear, continuous stirred-tank reactor (CSTR).

关键词： Optimization Planning Vehicles Prediction algorithms Trajectory Heuristic algorithms Predictive models

来源：评论

学校读者我要写书评

暂无评论

Particle swarm optimization of high-frequency transformer

Particle swarm optimization of high-frequency transformer

引用

Annual Conference of Industrial Electronics Society

作者： Hengsi Qin Jonathan W. Kimball Ganesh K. Venayagamoorthy Department of Electrical and Computer Engineering Missouri University of Science and Technology Rolla MO USA Real-Time Power and Intelligent Systems Laboratory Missouri University of Science and Technology Rolla MO USA

A high frequency transformer is a critical component in a dual active bridge converter (DAB) used in a power electronics-based solid state transformer. Operation of a DAB converter requires its transformer to have a specific amount of winding leakage inductance. The demand for high efficiency requires minimization of transformer copper loss and core loss. Furthermore, available window area limits the winding arrangement of transformer. A hybrid of particle swarm optimization (PSO) and differential evolution (DE) is proposed to solve this multi-objective problem with constraints. DE provides diversity to pbest of each particle, which is missing in standard PSO. The differential evolution particle swarm optimization (DEPSO) algorithm is applied to find optimal transformer designs for DAB converters. Results show the DEPSO method is a generic effective way to find optimal high frequency transformer design.

关键词： Windings Inductance Magnetic cores Converters Resistance Particle swarm optimization Optimization

来源：评论

学校读者我要写书评

暂无评论

Friction feedforward compensation and position feedforward in CNC machines

Friction feedforward compensation and position feedforward i...

引用

International Conference on electrical engineering/Electronics, computer, Telecommunications and Information Technology, ECTI-CON

作者： Wijin Suteeratanapirom Rapeepong Rattanawaorahirankul Chutima Laosapan Peerayot Sanposh Nattapon Chayopitak Kanokvate Tungpimolrut Hiroaki Kunieda TAIST Tokyo Technology China Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University Bangkok Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center Klong Luang Pathum Thani Thailand Department of Electrical and Electronic Engineering Tokyo Institute of Technology Meguro Tokyo Japan

ISBN: (纸本)9781424456062;9789746724913

关键词： Friction computer numerical control Metalworking machines Servomotors Three-term control Fasteners Rails Servomechanisms Torque control Error correction

来源：评论

学校读者我要写书评

暂无评论

Multipartite-to-bipartite entanglement transformations and polynomial identity testing

引用

Physical Review A 2010年第5期81卷 052310-052310页

作者： Eric Chitambar Runyao Duan Yaoyun Shi Physics Department University of Michigan 450 Church Street Ann Arbor Michigan 48109-1040 USA Centre for Quantum Computation and Intelligent Systems (QCIS) Faculty of Engineering and Information Technology University of Technology Sydney New South Wales 2007 Australia and State Key Laboratory of Intelligent Technology and Systems Tsinghua National Laboratory for Information Science and Technology Department of Computer Science and Technology Tsinghua University Beijing 100084 People’s Republic of China Department of Electrical Engineering and Computer Science University of Michigan 2260 Hayward Street Ann Arbor Michigan 48109-2121 USA

We consider the problem of deciding if some multiparty entangled pure state can be converted, with a nonzero success probability, into a given bipartite pure state shared between two specified parties through local quantum operations and classical communication. We show that this question is equivalent to the well-known computational problem of deciding if a multivariate polynomial is identically zero. Efficient randomized algorithms developed to study the latter can thus be applied to our question. As a result, a given transformation is possible if and only if it is generically attainable by a simple randomized protocol.

关键词： Quantum entanglement

来源：评论

学校读者我要写书评

暂无评论

Rotary nanomotors based on head-to-head nanotube shuttles

Rotary nanomotors based on head-to-head nanotube shuttles

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： M. Hamdi A. Subramanian L. X. Dong A. Ferreira B. J. Nelson ENSI Bourges Institut PRISME Bourges France Center for Integrated Nanotechnologies Sandia National Laboratories Albuquerque NM USA Institute of Robotics and Intelligent Systems ETH Zurich Zurich Switzerland Department of Electrical & Computer Engineering Michigan State University East Lansing MI USA

A novel rotary nanomotor is described using two axially aligned, opposing chirality nanotube shuttles. Based on inter-shell screw-like motion of nanotubes, rotary motion is generated by electrostatically pulling the two cores together. Simulations using molecular dynamics show the generation of rotation from armchair nanotube pairs and their actuation properties. The simulation results, together with recently reported progress in realizing batch-fabricated ultra-high density nanotube shuttles, point towards the use of these motors as building blocks in nanoelectromechanical systems (NEMS) and nanorobotic systems for sensing, actuation, and computation applications.

关键词： Nanoelectromechanical systems Carbon nanotubes Micromotors Computational modeling intelligent robots Nanostructured materials Nanostructures Nanoscale devices Rotors Voltage

来源：评论

学校读者我要写书评

暂无评论

Modified adaptive control for region 3 operation in the presence of wind turbine structural modes

Modified adaptive control for region 3 operation in the pres...

引用

作者： Frost, Susan A. Balas, Mark J. Wright, Alan D. NASA Ames Research Center Intelligent Systems Division M/S 269-2 Moffett Field CA 94035 United States Department of Electrical and Computer Engineering University of Wyoming 1000 E. University Avenue Laramie WY 82071 United States National Renewable Energy Laboratory M/S 3811 1617 Cole Blvd. Golden CO 80401 United States

ISBN: (纸本)9781600867392

Many challenges exist for the operation of wind turbines in an efficient manner that is reliable and avoids component fatigue and failure. Turbines operate in highly turbulent environments resulting in aerodynamic loads that can easily excite turbine structural modes, possibly causing component fatigue and failure. Wind turbine manufacturers are highly motivated to reduce component fatigue and failure that can lead to loss of revenue due to turbine down time and maintenance costs. The trend in wind turbine design is toward larger, more flexible turbines that are ideally suited to adaptive control methods due to the complexity and expense required to create accurate models of their dynamic characteristics. In this paper, we design an adaptive collective pitch controller for a high-fidelity simulation of a utility-scale, variable-speed horizontal axis wind turbine operating in Region 3. The objective of the adaptive pitch controller is to regulate generator speed, accommodate wind gusts, and reduce the excitation of structural modes in the wind turbine. The control objective is accomplished by collectively pitching the turbine blades. The adaptive collective pitch controller for Region 3 was compared in simulations with a baseline classical Proportional Integrator (PI) collective pitch controller. The adaptive controller will demonstrate the ability to regulate generator speed in Region 3, while accommodating gusts, and reducing the excitation of certain structural modes in the wind turbine.

关键词： Controllers

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：