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This paper presents a method based on inverse kinematic(IK) with fuzzy control for multi-DOF arm control. We particular focus on the use of hierarchical fuzzy concept to reduce the number of fuzzy rules for inverse kinematics calculations. A direct transformation of trajectory is generated; allow the robot to response promptly compared to the traditional fuzzy method. The approach is validated first...
For system of internal resonance(IR) properties, there will be modal coupling effect while the system linear frequency is commensurable. In order to discuss the dynamic behavior on the IR manifold, we need to include all the coupling manifolds as one invariant manifold, by using the modal invariance property, the system energy can be constrained in this manifold. In this research, an extended normal...
Recently, there has been a need of small size UAV for vast applications in military and civilian applications as local area surveillance reconnaissance in hostile condition, damage assessment in natural disaster and remote sensing of harmful materials. UAV can finish missions without risking human life. However, applying low-cost sensors for flight control is of extreme challenge due to less accuracy...
We demonstrate a novel single-shot optical recorder capable of picosecond-scale resolution across hundreds of ps of record length. The concept is a hybrid between cross-correlators and Mach-Zehnder-gated samplers, with advantages over both techniques.
Recently, there has been a need of small size UAV for vast applications in military and civilian applications as local area surveillance reconnaissance in hostile condition, damage assessment in natural disaster and remote sensing of harmful materials. UAV can finish missions without risking human life. However, applying low-cost sensors for flight control is of extreme challenge due to less accuracy...
A microscope system based on bevel-axial method auto-focus (BAM-AFS) is proposed. The purpose is to establish an auto-focus microscope system that calculates the focus position one or many times. In this paper, we propose a bevel-axial method that had an included angle between CCD sensor and image plane with multi-parameters fusing from image to obtain the in-focus position directly in the first phase...
A unified optimality-based framework was developed to address the problem of nonlinear nonquadratic control of a class of nonlinear modal system. Unlike the traditional IMSC (Independent Modal Space Control) method, which is restricted to linear oscillatory system, the presented control method can be applied to the nonlinear oscillatory system. By using a set of nonlinear coordinate transformation,...
The remote controlled weapon station (RCWS) is currently highly emphasized in infantry warfare. The future trend will focus on automatic targeting procedure to improve efficiency, and meanwhile to save the operator from hostile fire. In addition to operate the gun turret remotely, it is presently a direction to be integrated with the Unmanned Ground Vehicle (UGV) to serve as surveillance unit in the...
Supercollimation is the diffraction-less propagation of light using the dispersion properties of specially-designed photonic crystals. We have measured supercollimation in photonic crystals composed of nano-scale rods over distances of up to one thousand lattice periods.
Supercollimation is the diffraction-less propagation of light using the dispersion properties of specially-designed photonic crystals. We have measured supercollimation in photonic crystals composed of nano-scale rods over distances of up to one thousand lattice periods.
An extended normal form method is developed here to study the nonlinear normal mode. The method is based on the traditional normal form method in nonlinear dynamics analysis. It will be shown that the concept of linear modal space can be extended to nonlinear modal space and the linear modal space is tangent to the nonlinear modal space. Therefore, the purpose of this paper is to provide a framework...
The purpose of this research is to study the motion analysis and control of a 3 degree of freedom parallel mechanism by confining the motion of a 6 degree of freedom platform. The pitch, roll and length of the upper moving platform are assumed be movable. The relationships between the limb length and moving platform are first derived and verified by numerical simulation, and then by using the Lagrange...
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