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This paper uses grid method to divide the work area and makes the use of reciprocating traversing method and closed-loop rectangle method as operation modes of plant-protective UAV. Through establishing reasonable coordinate system, we can determine the boundary of working area and plan the flight line. In order to minimize the total energy, I work out two algorithms to allocate spraying quantities...
Central Pattern Generators (CPG) is widely used for robot locomotion control because of its biological nature advantages. CPG networks are located in the spinal cord of vertebrates and responsible for the generation of rhythmic movements. This paper presents a locomotion control framework for quadruped robot. The framework comprises two parts: CPG network and workspace trajectories generator. CPG...
This article proposes a numerical method based on equivalent model (NEM) for 6-3 Stewart platform forward kinematics problem (FKP). The NEM translates the forward kinematics problem into a ternary nonlinear equations system. Newton method was then used to solve the equations system. Simulations were conducted with different trajectories and allowable errors to compare the performance of NEM with traditional...
A lower extremity exoskeleton is designed and a novel control method based on RBF neural network identification is proposed to guarantee the exoskeleton identifies the pilot's motion intention independently. The propose method considers the pilot wearing assistance exoskeleton as an unknown system, and the RBF neural network is employed to identify the system's motion trajectories and the identification...
the reaching law is a convenient method for the design of sliding mode control. This method retains the robustness of the sliding mode control and makes the reaching speed adjustable. In the design of the sliding mode control for system with steady-state error which caused by disturbance, the traditional reaching law cannot eliminate the steady state error, in other words the states of system cannot...
The structure and working principle of Electro-hydrostatic Actuator was analyzed in this paper. And a mathematical model based on the transfer function was given. The paper analyzed the influence of the electric motor and hydraulic section on the EHA system performance. A nonlinear block diagram model based on the Simulink was established in this paper. A nonlinear PID controller was designed. The...
Hydraulic intelligent power system can adjust the pressure or flow in real-time to match the load. It will reduce the production of heat, and greatly improve the efficiency of the pump. This paper introduced the operating principle of the system. Based on the software platform of AMESim (Advanced Modeling Environment for Simulation of engineering systems), the modeling of hydraulic intelligent power...
Human Lower-limb Exoskeleton has recently received a great deal of attention, because of providing motion similar to human walking and reducing burden on both patients and therapists. In this paper the design of the control system for HLE which is actuated by electro-hydraulic servo system is presented. To improve the flexibility of the system, a control algorithms called sliding mode variable structure...
Intelligent home is an important application of wireless sensor network. This paper introduces a remote wireless acquisition and control system based on Zigbee and GPRS. The system is a star network and includes environment monitoring sensors, intelligent appliances, terminal acquisition and control nodes, family gateway and data display platform. This system is low cost, low power consumption, more...
Goal scoring is the main objective of the robot soccer game. This paper presents strategies of shooting for robot soccer systems. Using an algorithm based on fuzzy logic, we employ an arbiter to identify the most suitable shooter in a soccer team when attacking. We also propose an algorithm based on artificial potential field to plan an appropriate path for the chosen shooter. In the games, the team...
To the strong nonlinearity and parameter uncertainty in robot manipulator control, a novel self-adaptive PID controller based on RBF neural network on-line identification for the robot manipulator is proposed in this paper, which has solved the weak adaptive ability and poor robustness of the conventional PID control. The control scheme designed in this paper is realized by two kinds of neural networks,...
Because the flight simulator works in different environment for simulating various flight attitudes, the different control algorithm is used for improving the dynamic and static performance. The neural network has good self-learning and self-adaptive, and PID has good robustness, so the adaptive controller based on neural network and PID is used to overcome the coupling inertia and imbalance torque...
In this paper, to improve the control performance of hydraulic parallel robot, we develop a model reference adaptive PID control based on radial basis function (RBF) neural network. To compensate for the asymmetry of the hydraulic actuator, we adopt model reference adaptive control strategy. Moreover, a RBF neural network is used to identify the hydraulic servo system on-line and then regulate the...
Conventional model predictive controller (MFC) described by a linear model may not be able to cope with highly nonlinear process. This has led to the development of a number of nonlinear MPC (NMPC). Most of these methods are excellent in theory but it is difficult to apply them to the industrial cases because of tremendous computation. The fuzzy cerebellar model articulation controller (CMAC) neural...
Soccer robot is one of the primary factors that effect the performance of robotic soccer system. When soccer robot that has two independent wheel control systems ran linearly, the different load and parameters would influence the accuracy and stability, especially in the centralized robotic soccer system. In order to overcome the limitation of traditional compensation control, a synchronous control...
Simplified fuzzy ARTMAP (SFAM) is a simplification of fuzzy ARTMAP (FAM) by reducing the computational overhead and architectural redundancy. SFAM is powerful neural network in the application of prediction and classifier. Individual SFAM performance depends on the ordering of training sample presentation. A multiple classifier combination scheme is proposed in this paper to obtain reliable and accurate...
This paper proposed a method of online walking pattern generation based on key parameters of off-line typical walking patterns for humanoid robot. The key parameters include hip parameters, step length, walking cycle and so on. The offline walking pattern generation method is based on ZMP. The design of the system software of humanoid BHR-2 is also described in this paper, in order to ensure the real...
Rotating arm basin was used to do the hydrodynamic performance simulation experiments of model vessel. As an important parts of the rotating arm basin, the simulation platform is one of the primary factors that effect the accuracy of the experimental result. A kind of simulation platform for performance analyses of model vessel was introduced in this paper. Because this system has a strong disturbance...
Stability balance is a very important issue of the motion planning humanoid robot. Theoretically, the motion which has the higher stability is more stable, so how to evaluate the stability is very important in the motion planning for humanoid robot. Some researchers have proposed stability evaluation method based on ZMP, the stability margin is used to evaluate the stability, however these method...
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