control applied in reversing and tandem rolling
Jim ledin embedded control systems in c and c++ an introduction for software developers using MATLAB 2004
Ngày tải lên :
19/03/2014, 14:09
... Implementing and testing discrete-time floating-point and fixed-point controllers in C and C++ Adding nonlinear features such as limiters to the controller design About the Author Jim Ledin, P.E., ... fundamental concepts of control systems engineering and describes the steps of designing and testing a controller It introduces the terminology of control system design and shows how to interpret block ... PID structure, including PD, PI, and proportional-only control, can be realized by setting one or both of the ki and kd parameters (the integral and derivative gains) in the PID_Initialize() function...
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control problems in robotics and automation - b. siciliano and k.p. valavanis (eds)
Ngày tải lên :
12/06/2014, 11:52
... nonlinear control and passivity-based control methods are invoked for stabilization and tracking control purposes The chapter by Canudas de Wit concerns the problem of controlling mobile robots and ... research in robot force control, points out remaining problems, and introduces issues that, in the authors' opinions, need more attention Rather than discussing details of individual force control ... manufacturing process (e.g deburring or grinding), pushing an external object using a controlled force, or dealing with geometric uncertainty by establishing controlled contacts (e.g in assembly) This chapter...
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control problems in robotics and automation b siciliano and k p valavanis eds doc
Ngày tải lên :
27/06/2014, 18:20
... nonlinear control and passivity-based control methods are invoked for stabilization and tracking control purposes The chapter by Canudas de Wit concerns the problem of controlling mobile robots and ... research in robot force control, points out remaining problems, and introduces issues that, in the authors' opinions, need more attention Rather than discussing details of individual force control ... manufacturing process (e.g deburring or grinding), pushing an external object using a controlled force, or dealing with geometric uncertainty by establishing controlled contacts (e.g in assembly) This chapter...
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Control Problems in Robotics and Automation - B. Siciliano and K.P. Valavanis (Eds) Part 1 pdf
Ngày tải lên :
10/08/2014, 01:23
... nonlinear control and passivity-based control methods are invoked for stabilization and tracking control purposes The chapter by Canudas de Wit concerns the problem of controlling mobile robots and ... research in robot force control, points out remaining problems, and introduces issues that, in the authors' opinions, need more attention Rather than discussing details of individual force control ... manufacturing process (e.g deburring or grinding), pushing an external object using a controlled force, or dealing with geometric uncertainty by establishing controlled contacts (e.g in assembly) This chapter...
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Control Problems in Robotics and Automation - B. Siciliano and K.P. Valavanis (Eds) Part 2 pps
Ngày tải lên :
10/08/2014, 01:23
... contact on the one hand, and the resulting kinematics and dynamics of the robot's endpoint on the other hand Again, this problem increases when the contacts are time-varying and the environment ... accurate in the Hybrid control case Hence, Hybrid control and Impedance control are complementary, and: 14 J De Schutter et al Statement 4.1 The purpose of combining Hybrid Control and Impedance Control, ... Statement 3.2 (Kinematic coupling) Changing position, velocity, force, torque, in one degree of freedom in joint space induces changes in all degrees of freedom in Cartesian space, and vice versa...
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Control Problems in Robotics and Automation - B. Siciliano and K.P. Valavanis (Eds) Part 3 pdf
Ngày tải lên :
10/08/2014, 01:23
... hardware used in robotic hands, it is true in general that planning and controlling nonholonomic systems is more difficult than holonomic ones Indeed, notwithstanding the efforts spent by applied mathematicians, ... property being in fact equivalent to functional controllability of outputs for linear systems) Since "inputs" in engineering terms translates into "actuators", devices designed by intentionally introducing ... "hands", are taking to tackle the stringent requirements of both industrial and servicing applications A point is made in favour of the so-called minimalist approach to design, consisting in...
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Control Problems in Robotics and Automation - B. Siciliano and K.P. Valavanis (Eds) Part 4 ppt
Ngày tải lên :
10/08/2014, 01:23
... 2(3):10-18 [2] Anderson R J 1996 Building a modular robot control system using passivity and scattering theory In: Proc 1996 IEEE Int Conf Robot Automat Minneapolis, MN, pp 1626-1629 [3] Anderson R ... structure control is applied to robot manipulators to solve the problem in position tracking control, hybrid force/position control, contour-following control, and the deburring robot control, [6, 9] ... q lying in a compact set in the joint space, so that there exists a one-to-one mapping between x and q in a properly defined compact set Thus, J has a pseudo-inverse matrix J + , satisfying J...
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Control Problems in Robotics and Automation - B. Siciliano and K.P. Valavanis (Eds) Part 5 ppt
Ngày tải lên :
10/08/2014, 01:23
... the input-output decoupling and linearization problem for the original output q The mapping from f to q, represented by Eq (2.14), contains the main nonlinearities of the robot link dynamics In ... rigid robots and is globally defined thanks to the positive definiteness of the link inertia matrix B(q) Input-output decoupling and linearization has been achieved by means of the nonlinear dynamic ... Consider an open kinematic chain structure, with a fixed base and N moving flexible links, interconnected by N (rigid) rotational joints Each link deformation is distributed in nature and would be...
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Control Problems in Robotics and Automation - B. Siciliano and K.P. Valavanis (Eds) Part 6 ppt
Ngày tải lên :
10/08/2014, 01:23
... bipeds is minimizing the required control effort in regulating the motion Studying the passive (unactuated) systems is the first effort in this direction This line of research is still in its infancy ... related to kinematics, dynamics and control of free-floating robotic systems Free-floating robots not have a fixed base, and this fact must be accounted for when developing kinematic and dynamic ... The final chapter on the solution of the impact problems of kinematic chains is yet to be written Thus, modeling and control of bipedal machines would greatly benefit from future results obtained...
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Control Problems in Robotics and Automation - B. Siciliano and K.P. Valavanis (Eds) Part 8 ppsx
Ngày tải lên :
10/08/2014, 01:23
... servo control include the image plane coordinares of points in the image [4, 9, 16, 35], the distance between two points in the image plane and the orientation of the line connecting those two points ... routing If this tendency is confirmed, then new control problems will be considered where the interaction between driver and control system will be dominant In heavy vehicles platooning and in ... emulating human dynamic skills in diverse areas such as ping-pong, air hockey, juggling, catching and balancing The remainder of this chapter will provide a brief introduction to the principles...
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Control Problems in Robotics and Automation - B. Siciliano and K.P. Valavanis (Eds) Part 9 pps
Ngày tải lên :
10/08/2014, 01:23
... use and adjust to and balance cost, benefit and business situation Site managers, enterprise workflow and measurement agents monitor usage, watch for alerts and initiate load shifting and shedding ... provides a flexible and customizable model for combining and integrating the inputs and control of a multitude of sensors R o b u s t n e s s Multisensor fusion techniques have been applied to a wide ... included in the system Finally, vision-based systems often need to operate in different modes depending on the surrounding circumstances (for example a car may be following, overtaking, merging...
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Control Problems in Robotics and Automation - B. Siciliano and K.P. Valavanis (Eds) Part 10 pps
Ngày tải lên :
10/08/2014, 01:23
... useful in restricting input Potential fields can be divided into two main groups, attractive and repulsive potentials The attractive potentials are used for maintaining and enabling constraints, ... to minimize the weighted tardiness and earliness penalties subject to the above mentioned constraints by selecting appropriate operation beginning times Since all the constraints are linear and ... high variety manufacturing In a job shop, machines of similar functionality are grouped together in one area, such as all grinding machines in one area, all milling machines in another A part then...
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Control Problems in Robotics and Automation - B. Siciliano and K.P. Valavanis (Eds) Part 11 ppsx
Ngày tải lên :
10/08/2014, 01:23
... sensing to achieve an intelligent task scheduling, action planning and control The major difficulty in developing a method for modeling, analysis and design of integrated schedule, plan and control ... model Combining the Max-Plus Algebra model with the event-based planning and control scheme, and incorporating a multi-sensor data fusion scheme, an integrated sensing, planning and control scheme ... Synchronization via Integration of Sensing, Planning, and Control in a Manufacturing Work-cell Tzyh-Jong Tarn 1, Mumin Song 1, and Ning Xi Department of Systems Science and Mathematics, Washington University,...
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Control Problems in Robotics and Automation - B. Siciliano and K.P. Valavanis (Eds) Part 12 pptx
Ngày tải lên :
10/08/2014, 01:23
... Improvements in performance may also be obtained by allowing aircraft to individually fine tune their trajectories making use of the detailed dynamical models contained in the autopilot Finally, greater ... replace, the controllers in handling traffic in the Center and TRACON areas CTAS consists of three main components: the Traffic Management Advisor (TMA), the Descent Advisor (DA) and the Final Approach ... planner in the form of a sequence of control points and/ or a maneuver 4.2.2 T a c t i c a l p l a n n e r The tactical planner refines the strategic plan by interpolating the control points with...
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Control Problems in Robotics and Automation - B. Siciliano and K.P. Valavanis (Eds) Part 13 ppsx
Ngày tải lên :
10/08/2014, 01:23
... 214: Yin, G.; Zhang, Q (Eds) Recent Advances in Control and Optimization of Manufacturing Systems 240 pp 1996 [3-540-76055-5] Vol 205: Kotta, U Inversion Method in the Discrete-time Nonlinear Control ... Gain and Passivity Techniques in Nonlinear Control 176 pp 1996 [3-540-76074-1] Vol 219: Berger, M.-O.; Deriche, R.; Tannenbaum, A Robust Control of Infinite Dimensional Systems: Frequency Domain ... Velocity profile agent is adjusted resulting in a flyable trajectory Turningpointapproximation _ O f f s e t _ approximation Fig 5.18 Turning point and offset approximation C -5CC -100C -150C...
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Performance analysis of TCP and TCP friendly rate control flows in wired and wireless networks
Ngày tải lên :
28/11/2015, 13:34
... proposed for congestion control are: Random Early Detection (RED) – an active queuing mechanism for controlling the average queue size and reducing unnecessary packet drops, and Explicit Congestion ... the case where infrequent random drops are happening in the network (simulating errors in a wireless environment), and conclude that ECN can help to increase TCP’s performance in hybrid wired/wireless ... Equation-based congestion control is designed mainly to not to be so aggressive in terms of available bandwidth, but also to maintain a relatively steady sending rate at the same time being responsive to...
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Multi criteria analysis in environmental management: Selecting the best stormwater erosion and sediment control measure in Malaysian construction sites
Ngày tải lên :
05/09/2013, 16:11
... binder, III = Seeding and planting, IV = Geotextiles and mats, V = Terracing Based on equation above, the recommended best control measure for controlling erosion due to land clearing and when the ... acceptability Figure Erosion and sediment control criterion Materials and methods In this study, there are many alternatives/controlling measures for controlling the erosion and sedimentation due to ... quality of information (input data) needed and difficulty in obtaining them, ability to handle uncrtaines and availability of user friendly software were also concerns” Ref [17] have indicated...
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Transactions in measurement and control
Ngày tải lên :
20/10/2013, 01:15
... because of savings in installation and operating and maintenance costs The classical Herschel venturi has a very long flow element characterized by a tapered inlet and a diverging outlet Inlet pressure ... when flow and density are at their maximum and viscosity at its minimum Conversely, the minimum RD is obtained by using minimum flow and density and maximum viscosity If acceptable metering performance ... be inserted into existing and pressurized pipelines (called hot-tapping) without requiring a shutdown • Theory of Operation Pitot tubes were invented by Henri Pitot in 1732 to measure the flowing...
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The Potential of Biofumigants as Alternatives to Methyl Bromide for the Control of Pest Infestation in Grain and Dry Food Products
Ngày tải lên :
25/10/2013, 05:20
... protection has increased and stands as the main alternative to methyl bromide Lately, insect resistance to phosphine has become an important issue for effective grain treatment (Nakakita and Winks, 1981; ... agriculture in developing countries has developed effective means for insect control using botanicals Their efficiency and optimal use still need to be assessed in order to make these means of insect control ... essential oils and their terpenoids, and their use in cosmetics and as flavoring agents in food and beverages, is a good indication of their relative safety to warm-blooded animals and humans They...
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