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It is expected that more and more robots will be introduced into public societies and homes. The problem in such a case will be the smooth mobility of each robot. Collision avoidance between robots or between a robot and other obstacles including human beings is important as well as reaching its target point in order to carry out its task. Human beings often give way to each other to cope with this...
This paper develops the control system of a piezoelectric micropositioner with an optimal PID control approach. In the control system development, the piezoelectric micropositioner is actuated by a voltage amplifier which is implemented by a linear operational amplifier with a compensator cascaded and the optimal PID control approach for trajectory tracking is developed from an approximated second-order...
In this paper, the special estimation schemes for INS/GPS integration is addressed and implemented on real-time PC-box hardware. The strapdown INS (SINS) using two Kalman filters (KF) has been built so that the system can be operated flexibly between feed-forward and feedback modes in case of GPS outage. The experiment results shown that this INS/GPS system can be used for practical applications.
The fault detection of rotary rectifier based on harmonic analysis has some deficiencies. A new fault diagnosis method is presented using fractal theory and dynamics. Firstly, the quantitative description of exciter field currentpsilas complexity and irregularity is performed by box dimension calculation. Then the exciter field current fluctuation range under noisy environments is obtained by dynamics...
This paper presents the whole dynamic process simulation model of hydroelectric generating unit and studies the applications of trajectory sensitivity analysis on the hydroelectric generating unit simulation, and proposes a method that can solve the equations for trajectory sensitivities more effectively in the simulation model of hydroelectric generating unit. The goal is to find how sensitive the...
In order to compensate for the effects of friction in IOC (inter-satellite optical communication) coarse pointing subsystem of PAT (pointing, acquisition, tracking) system, a PD controller is used to obtain a stable trajectory first, then wavelet neural network is used to approximate friction function on line to compensate for it. In addition, a robust term is used to eliminate the effects of approximation...
In this paper we will present a new - application oriented - control method for the biped jump. We shall be restricting our study to the vertical jump with both feet together and legs placed exactly side by side, and with the robot moving in the sagittal plane. The control method is based on the sliding mode technique. We will end up with a simple control law which impose the trajectory following...
Aiming at solving the problem of trajectory tracking of the wheeled mobile robot, a modified Iterative Learning Control (ILC) algorithm based on the kinematics model is presented in this paper. The idea of the Model Algorithmic Learning Law is introduced to the classical open-closed loop ILC, which can improve the effect of the control law. The convergence of the new algorithm is demonstrated in the...
This paper presents a method for describing the effect of articulatory trajectories on phoneme recognition. The proposed method comprises three stages. The first stage embeds three multilayer neural networks (MLNs): MLN (LF-DPF) that maps acoustic features or local features (LFs) onto articulatory features or distinctive phonetic features (DPFs), MLN (cntxt) that reduces misclassifications at phoneme...
The paper presents an experimental identification of the parameters of a load of a manipulator gripper: mass; static moment coordinates; and six inertial parameters. The experiments have been carried out for an ASEA IRp-6 robot equipped with a German DLR and American JR3 force/torque sensors. An external measurement system for monitoring each motor's position, velocity and current has also been employed...
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