Automation and Robotics

Automation and Robotics Part 1 pptx

Automation and Robotics Part 1 pptx
... trailer's kinematics θ i = (sin(θ i 1 − θ i )vi 1 − cos(θ i 1 − θ i )θ i 1 Di 1 L i vi = cos(θ i 1 − θ i )vi 1 + sin(θ i 1 − θ i )θ i 1 Di 1 10 Automation and Robotics Problem formulation Tracking ... 0.5 -0.5 -1 10 15 20 25 30 ω [rad/sec] 10 15 20 25 30 -2 Comp.Time [msec] Performance Index Fig Simulation results: control inputs 10 10 -1 -2 10 10 15 20 25 30 10 15 Time [sec] 20 25 30 10 0 50 Fig ... -1 10 15 20 25 30 10 15 20 25 30 10 15 20 25 30 10 15 20 25 30 10 15 20 25 30 y [m] 0.5 -0.5 -1 θ [rad] 15 10 θ [rad] 15 10 0 θ [rad] 15 10 0 Time [sec] Fig 10 Simulation results: state trajectories...
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Automation and Robotics Part 2 pdf

Automation and Robotics Part 2 pdf
... Wiley-Interscience; ISBN: 978-0471 325 9 32, New York Utkin, V.I (1977) A Survey: Variable Structure Systems with Sliding Modes, IEEE Transactions on Automatic Control , vol 22 , no 2, pp 21 2 -22 2, April 1977 Vetter, ... x for classical sliding mode control and (25 ) 28 Automation and Robotics M x ~ + ( 3M x Λ + C x )~ + ( 3M x Λ + 2C x )Λ~ + (M x Λ + C x )Λ 2~ = d x x x x (26 ) for sliding mode control with integral ... prestressing of mechanical structure (Kock, 20 01) The model derived in section is used to set the input to τ = G−1M x u + G−1ξ x , ξ x = C x x + ηx ( 12) 22 Automation and Robotics where u is the new external...
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Automation and Robotics Part 3 pot

Automation and Robotics Part 3 pot
... ⎢ 0[1 3] ⎣ ) F1 K F2⎤ ⎥ ⎥ ⎦ (9a) 50 Automation and Robotics R F is a 3 3 orthogonal rotation matrix determining the orientation of the {F2} CS with respect to the {F1} CS and F K F is a 3 1 translation ... form as − p1 − p2 p0 p3 − p3 p0 − p2 ⎡ p0 ⎢p p⋅q = ⎢ ⎢ p2 ⎢ ⎣ p3 p1 − p3 ⎤ p2 ⎥ ⎥⋅q = P⋅q − p1 ⎥ ⎥ p0 ⎦ or ⎡ p0 ⎢p q⋅ p = ⎢ ⎢ p2 ⎢ ⎣ p3 − p1 − p2 p0 − p3 p2 p3 p0 − p1 − p3 ⎤ − p2 ⎥ ⎥⋅q = P ⋅q ... ynorm + dy1 (3) where xd and yd stand for normalized distorted coordinates and dx1 and dx2 are tangential distortion parameters defined as: ( ) dx1 = 2k3 xnorm ynorm + k h + xnorm dx2 = 2k3 h + ynorm...
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Automation and Robotics Part 4 docx

Automation and Robotics Part 4 docx
... ] (41 ) Closed-Loop Feedback Systems in Automation and Robotics, Adaptive and Partial Stabilization ηu = −ν (ς ) ( ) ˆ − S T − M −1 h − kM −1 ( X d − e − X ) − X d − μ ' μ + μ ' ς − e3 , 85 (42 ) ... Astron Khim., 4, 9-16 Rumyantsev, V V (1970) On the optimal stabilization of controlled systems, J Appl Maths Mechs, 3, 34, 44 0 -45 6 Rumyantsev, V V and Oziraner, A S (1987) The Stability and Stabilization ... Proc IEEE Workshop Calibration and Orientation Cameras in Computer Vision, Washington D.C (USA) Closed-Loop Feedback Systems in Automation and Robotics, Adaptive and Partial Stabilization G R Rokni...
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Automation and Robotics Part 5 pdf

Automation and Robotics Part 5 pdf
... Accumulative strategy T1 1 .5 T2 1 .5 T3 3 T4 1 .5 T5 1 .5 T6 1 .5 T7 1 .5 T8 1 .5 Table LOS values for Fig .5 102 Automation and Robotics This example shows how counting and accumulative strategy algorithms ... Counting strategy LOS value Accumulative strategy T1 1 .5 T2 1 .5 T3 4 T4 T5 1 .5 T6 1 .5 T7 1 .5 T8 1 .5 T9 1 .5 T10 1 .5 T11 1 .5 T12 1 .5 T13 1 .5 T14 1 .5 Table LOS values for Fig.6 Deghosting Methods for ... configuration space approach Proc IEEE Conf on Methods and Models in Automation and Robotics MMAR 2007, pp 9 85 990, Szczecin, 2007 96 Automation and Robotics Rich Chi Ooi, Balancing a Two-wheeled Autonomus...
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Automation and Robotics Part 6 pot

Automation and Robotics Part 6 pot
... A2 5.875 (±0.1 166 ) 1.395 (±0. 960 9) 0.25 96 (±0.4 368 ) -0.3017 (±0.1248) A3 -5.3 06 (±0. 16) -1.598 (±0 .64 74) 0.8884 (±0.31 16) 0.0144 (±0. 068 4) A4 2 .66 7 (±0.1132) -1.392 (±0.4393) 0.55 96 (±0.1175) A5 ... ARX-4 A1 -2.519 (±0.035 16) -3.111(±0.01927) A2 2. 167 (±0. 066 46) 4.1 76( ±0.050 36) A3 -0 .61 57(±0.03421) -2.882(±0.04939) A4 0.8708(±0.01815) A5 ARX-5 ARMAX-3 ARMAX-4 -3. 267 -2 .66 1 -3.099 (±0.03743) ... 0.01872(±0.0018 46) Loss fcn 0.00150523 0.000 265 366 0.00028017 0.00054384 0.0001517 FPE 0.00152941 0.000270705 0.00028453 0.000 561 46 0.000 165 17 ARMAX-5 OE-3 OE-4 OE-5 A1 -3 .64 2 (±0.0 369 9) 0. 261 2 (±0.7533)...
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Automation and Robotics Part 7 ppsx

Automation and Robotics Part 7 ppsx
... 9,88 ± 5,02 2, 57 7, 17 ± 8,04 GSNLS - 9,13 9, 27 ± 0,04 2, 57 5,22 ± 6,64 ACO 9,13 9,26 ± 0,18 2, 57 2,66 ± 0,18 ACO 9,13 9,24 ± 0, 07 2, 57 2,66 ± 0,13 ACO 10 9,13 9,26 ± 0,05 2, 57 2, 67 ± 0,11 ACO 20 ... 9,88 ± 5,02 2, 57 7, 17 ± 8,04 GSNLS - 9,13 9, 27 ± 0,04 2, 57 5,22 ± 6,64 ACO 9,13 9,26 ± 0,18 2, 57 2,66 ± 0,18 ACO 9,13 9,24 ± 0, 07 2, 57 2,66 ± 0,13 ACO 10 9,13 9,26 ± 0,05 2, 57 2, 67 ± 0,11 ACO 20 ... 12th IEEE IFAC Internationa Conference Methods and Models in Automation and Robotics (MMAR), pp 601-606, Szczecin, Poland, August 20 07, ISBN 978 -83 -75 1803-3-6 Phat V.N., Savkin A.V (2002) Robust...
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Automation and Robotics Part 8 pptx

Automation and Robotics Part 8 pptx
... the meaning of the the definition 18 188 Automation and Robotics The system is reachable and observable because the matrix PBQ −1 has n = monomial −1 columns, and the matrix VCP has n = monomial ... York 190 Automation and Robotics Moshrefi-Torbati M & Hammond K (19 98) Physical and geometrical interpretation of fractional operators, J Franklin Inst., Vol 335B, no 6, 19 98, pp 1077-1 086 Murty ... simulation (Jozsef & Claude, 192 Automation and Robotics 2003), analytic and experimental research (Henri & Hollerbach, 19 98) and the development of robotic hands using cylinder pneumatics Flexible...
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Automation and Robotics Part 9 potx

Automation and Robotics Part 9 potx
... control of uncertain nonlinear systems (Utkin, 199 2; Slotine & Li, 199 1; Edwards & Spurgeon, 199 8) The classical applications of SMC (such as robotics, electrical machines etc.) were extended ... (Slotine & Li, 199 1; Edwards & Spurgeon, 199 8) Vibrational control (VC) is a non-classical open-loop control method proposed by Bellman, Bentsman and Meerkov (Meerkov, 198 0; Bellman et al., 198 6a; Bellman ... bioprocess: exact linearizing strategy (Bastin & Dochain, 199 0), adaptive control (Bastin & Dochain, 199 0; Bastin, 199 1; Dochain & Vanrolleghem, 2001) and so on The exact linearizing control does not work...
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Automation and Robotics Part 10 ppt

Automation and Robotics Part 10 ppt
... International Conference on Methods and Models in Automation and Robotics MMAR 2007, pp 77-84, ISBN 978-83-751803-2-9, Szczecin, Poland, August 2007 222 Automation and Robotics Selişteanu, D.; Petre, ... -60 10 Time [sec] 15 Fig Real and estimated arm angle velocity for flexible beam experiment 20 238 Automation and Robotics Real (measured) arm angle Estimated arm angle 15 Angle [deg] 10 -5 -10 ... Berlin 13 Sliding Mode Observers for Rotational Robotics Structures Dorin Sendrescu, Dan Selişteanu, Emil Petre and Cosmin Ionete Department of Automation and Mechatronics, University of Craiova Romania...
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Automation and Robotics Part 11 pptx

Automation and Robotics Part 11 pptx
... support system (see Fig 1.): 246 • • • • • Automation and Robotics Problem-specific constraint which correspond to particular features of operations and resources The system should possess data ... problem include: • Temporal and precedence constraints which define the possible values for the start and end times of operations and the relations between the start and end time of two operations ... 244 Automation and Robotics developing specific software, written in a procedural language like PASCAL, BASIC or C, to solve each particular problem However, the use...
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Automation and Robotics Part 12 potx

Automation and Robotics Part 12 potx
... Conference on Methods and Models in Automation and Robotics (MMAR), Szczecin, Poland Tsai, L.-W (1999) Robot analysis: the mechanics of serial and parallel manipulators John Wiley and Sons, Inc., USA ... time they 274 Automation and Robotics change Apart from the difference between these forces, a good agreement in the vibrations’ behaviour of both systems, frequency, amplitude and phase, can ... Mechanik, Vol 8, No 2, pp 122 – 133 Featherstone, R & Orin, D (2000) Robot dynamics: equations and algorithms Proceedings of the IEEE International Conference on Robotics and Automation, pp 826 –...
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Automation and Robotics Part 13 doc

Automation and Robotics Part 13 doc
... Simulation and Optimization 313 Fig.8 Deployment of units and their structural (graph GD) representation (left-hand side) and terrain covering (growth) and its structural (GT) representation (right-hand ... U2×T×K_Veh×K_Meteo×K_YearS×K_DayS→[0,1] Fig.5 Road-railroad network (left-hand side) and its graph model G2 (right-hand side) (5) 304 Automation and Robotics Description of the function Definition of the function ... decision processes on different command level and decomposingmerging approach) The method differs from very effective representations of terrain using 302 Automation and Robotics quadtree (Kambhampati...
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