The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
It highly deserves to remove human operators from hazardous environments or monotony routine work during pick-and-place type operation in current industrial societies; it also deserves to encourage the work in new exploration without risks on humans or objects. In order to achieve this, a novel robotic gripper is presented in this paper. A gripper is designed to grasp unknown objects with different...
Unlike animals and humans who are very adept at push recovery, humanoid robots push recovery is difficult for its high dimensional, non-linear, and hybrid features. Existed research results such like Capture points, provide several methods to recover from the push. However when a high magnitude push applies to the humanoid, existed methods are not enough to recover the robot. Towards this problem,...
The predictive function control (PFC) with PID of a hydraulic robot system is presented with actions of random disturbance and uncertain parameters, such as the hydraulic nature frequency, the hydraulic damping factor and external load disturbance, and the feature which is characteristic parameter is greatly varied with the hydraulic robot system work state, the external load and environment. This...
During the last 15 years the way how software products are being developed has changed dramatically. Today, software is developed very efficiently in an industrialized manner. One of the cornerstones is that new development processes introduced a domain-centric view rather than a technology-centric view. As a result, big and complex software systems can be built very fast, reliable and according to...
This paper proposes a model-based iterative learning control (MB-ILC) for industrial robot manipulators. The proposed MB-ILC modifies the desired trajectory but not the control input signals, and thus it is possible to keep the existing controllers unchanged that are designed to make the manipulator stable. To achieve stability of the MB-ILC algorithm in the iteration domain, two filters are used...
The trend that container ships become increasing large-scale and fast-sailing brings forward the more severe requirements to container terminal logistics system (CTLS) than ever. Whether yard trailer dispatching at container terminals is sound or not possesses of important significance to improve on the integrated operational efficiency of CTLS. So this paper utilizes hybrid flow shop with blocking...
Aiming at the problems of optimization design of propulsive mechanism and motion control for an amphibious robot capable of multimode motion, a kinematics model is established by Solidworks and imported into ADAMS to form a virtual prototype. An accurate simulation can facilitate designer find hidden errors and gain insights into the kinematics of an amphibious robot. The abilities of straight-going,...
Aim. The full paper begins with the bad influence of the thermo-elastic instability (TEI) due to frictional heat energy at the rough sliding interfaces. The main shortcoming of existing literatures is, in our opinion, that it do not deduce theoretical mathematics model taken into account the rough surface profile with the heat convection and radiation boundary conditions in temperature field. We now...
In this paper, a single machine batch process scheduling problem (SBPSP) integrating batching decision is investigated. The integration problem of batching and scheduling is to allocate the demands from different customer orders to sets of batches and schedule these batches such that the total weighted tardiness costs and the total set-up costs are minimized. This problem is formulated as a mixed-integer...
Sku assignment is an essential problem for the design and operation of Automated Picking System (APS), which is mainly composed of Horizontal Dispenser (HD) and A-frame. The challenge is to develop an effective measurement to evaluate the sku and the efficient assignment procedure in practice. Based on fluid model, the optimal number of channels allotted to each sku to minimize the total restocking...
The phenomenon of low efficiency and waste is prevalent in public buildings. One of the reasons is the bad habit of people. There is no way to judge the level of waste ever since a long time ago. In order to analyze the level of building energy utilization to implement low energy building, this paper presents a concept of energy efficiency. It divides the energy of building into two parts. One part...
Tasks scheduling problem is a key factor for a distributed system in order to achieve better efficiency. The problem of tasks scheduling in a distributed system can be stated as allocating tasks to processor of each computer. The objective of this problem is minimizing Makespan and communication cost while maximizing CPU utilization. Scheduling problem is known as NP-complete. Hence, many genetic...
Distributed collaborative measurement is absorbing more and more research focus for its requirements in modern collaborative producing enterprises for low-cost products and short time to market. In this paper, we propose a distributed collaborative measurement pattern, which is built on wavefront array model. In this model, the architecture is viewed as a global array of measurement resources, and...
In this paper an extended state observer (ESO) based guidance law is proposed for hit-to-kill interceptors in the three-dimensional high-speed engagement. An approximate miss distance formula is given in this scenario. The nonlinear uncertainties and unknown target maneuvering are regarded as total disturbances of the kinematics, which are estimated by the ESO. With the estimation results as the compensation,...
A multi-product two-stage production distribution network design problem (PDND) is considered in this paper. The network consists of capacitated plants, capacitated distribution centers and customers. The known demand for multiple products at the customers is satisfied by shipping via distribution centers, and each customer demand is supplied via a single distribution center. A relatively efficient...
In this paper, robust adaptive tracking control is proposed for ocean surface vessels based on neural network. In the tracking control design, parametric uncertainties, unknown disturbances and input saturation are explicitly considered. Using neural network (NN) approximation and backstepping control techniques, full state feedback control and output feedback control are investigated to tackle system...
In this paper, decentralized controllers are developed to drive a swarm of mobile agents with high-order (n > 2) nonlinear dynamics in strict feedback form into a moving target region while avoiding collisions among themselves. It is important to consider coordination of multiple high-order agent dynamics which generalize the existing simple single-integrator/double-integrator ones because, in...
An on-line identification algorithm via dynamic neural networks with different time-scales followed by controller design is proposed for the dynamic systems with nonlinearity and uncertainty in this paper. The main contribution of the paper is that the Lyapunov function analysis, singularly perturbed technique and sliding mode methodology are combined to develop the control laws for trajectory tracking...
Inverse of the rate-dependent Prandtl-Ishlinskii model is proposed to compensate rate-dependent hysteresis effects in smart actuators. The rate-dependent hysteresis properties of a piezoceramic actuator were characterized using the rate-dependent play operators and a dynamic density function. The inverse model is subsequently obtained analytically from the rate-dependent play operators and a dynamic...
A fuzzy controller for the dissolved oxygen (DO) concentration of a wastewater bioreactor is presented. The controller is developed and tested based on simulations using first order plus dead time models obtained from experiments with an actual wastewater bioreactor. The controller uses feedback of the error in DO concentration and rate of change of the DO concentration and manipulates the valve position...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.