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Policy-based computing is one of the software and knowledge engineering methods (along with Artificial Neural Networks, Fuzzy Logic, etc.) that allows incorporating a specified expert knowledge into various kind of decision making processes. In this paper a preliminary study is undertaken in order to determine applicability of this technology supported by selected trend analysis methods for the problem...
This paper deals with the design of model predictive control for the precise motion of industrial articulated robots. The solution is based on specific incremental formulations of equations of predictions. The proposed formulations enable the design to compensate and suppress undesirable positional offsets. The corresponding incremental predictive algorithms incorporating discrete integrators are...
Typically there are two main control loops with PI controllers operating at each turbo-generator set. In this paper a distributed model predictive controller DMPC, with local QDMC controllers for the turbine generator, is proposed instead of a typical PI controllers. The local QDMC controllers utilize step-response models for the controlled system components. These models parameters are determined...
To better characterize movement-related neurophysiological change, the authors propose to measure not only neural activity through the electroencephalogram (EEG) but also cerebral blood flow (CBF) using a new technology, near-infrared diffuse correlation spectroscopy (DCS). A preliminary trial is described, in which EEG, DCS, and exerted force were simultaneously recorded during a cue-triggered hand...
Due to the significant flexibility arising as a result of the incorporation of passive compliance into traditional rigid actuators, that enables the excitation of sizeable resonance movements, the generation of highly dynamic motions using such systems has been studied in the literature; however, a majority of these methods are limited to single actuators. This work presents a novel scheme employing...
The main aim of this paper is to present the analysis of tracking performance obtained by means of experiments from laboratory stand comprising a small DC-motor-driven servo drive, continuous-time fractional-order PI controller and simple anti-windup compensation systems. It is an extension to authors' previous work where the stability of a first-order plant model with time delay and fractional-order...
One of the most challenging issues of granular jamming robots is both predicting and measuring the stiffness variations which are a direct function of elastic module. In this regard, in previous researches, it had demonstrated that the elastic module of robot's bulk is a fundamental function of vacuum pressure and must be acquired by experimental tests. However, there was not a unique formulation...
Orienting manipulators in robotics are used to achieve the desired orientation of the end effector of the manipulator. These manipulators are composed of rotational joints, and thus inherently burdened with singularities. In singular configurations, the differential inverse orientation problem can not be applied since the Jacobian becomes singular. A regularization method is discussed that regularizes...
The paper presents a concept of factitious force method used for controlling a 3R space manipulator. It was shown that the method works for a rigid manipulator where one of the joints is damaged and can not be controlled. It is important for space applications to have some means of control while the system is compromised. Control law has been proposed for the task of trajectory tracking and practical...
The main goal is to design a hybrid exothermic chemical reactor that exhibits hysteresis or oscillatory behavior. Then, the hybrid system can be used as a benchmark plant for testing new control algorithms. In the hybrid reactor, the reactor vessel and jacket are real, but the reaction heat is simulated by means of the electric heater and a mathematical model of the process. Because in the real hybrid...
In the paper a stepper motor closed loop driver algorithm is presented which emphasizes the processor overhead minimization in which it is implemented, as well as rotor average torque and set position acquisition. The program was tested as a simulation in MATLAB environment and on a physical driver based on 32 bit microcontroller connected with a motor and an encoder. Exemplary results are introduced...
In the paper a sensor-less control scheme for a bilateral teleoperation system with a force-feedback based on a prediction of an input and an output of a non-linear inverse model by prediction blocks is presented. The prediction method was designed to minimize the effect of the transport delay and the phase shift of sensors, actuators and mechanical objects. The solution is an alternative to complex...
An optimal control problem for heat conduction in a metal bar heated and cooled by two Peltier elements attached to its bottom surface is investigated. The bar has the shape of an elongated cuboid, the vertical sides of which are insulated, whereas the heat exchange with the environment takes place on the upper surface. The problem is to find the time history of the elements' heating powers transferring...
This paper presents a tracking controller for a long pneumatic transmission line modeled by a bidirectionally coupled system of partial differential equations (PDEs) and ordinary differential equations (ODEs). The feedforward part of the controller is designed by applying a flatness-based approach for hyperbolic PDEs to a second-order quasilinear model of the pneumatic system. The stabilizing feedback...
The paper presents models and estimation algorithm of the air stream velocities in pneumatic material transport for supervisory and direct control layers of electromagnetic milling system. The algorithm uses redundant measurement system and identifies parameters of the first principle model to increase reliability of the measurements and to give rise of the fault detection system.
The paper concerns linear continuous control systems with different fractional orders involving the Caputo derivatives. In the first part, the existence and uniqueness of a solution to such systems is studied. Next, based on the existence result, a theorem on the continuous dependence of solutions on controls is obtained.
The performance of a gearless servo system is significantly degraded by mechanical resonances present in the system. For applications on a machine the parameters of the mechanical resonances differ from workpiece to workpiece and thus cannot be calculated a priori. Adaptive notch filters can dampen these unknown resonances online. In this paper an online mechanical resonance frequency identification...
In the paper a novelty fractional-order backward difference is proposed. On the basis of the classical first-order backward difference and its generalization into the fractional-order case we introduce a constant parameter a which essentially influences the differentiation action. This novelty fractional-order backward difference will be further named as a-difference. Its fundamental properties are...
This paper presents an extension of navigation function used to control an omnidirectional robot. Navigation function is used to control position coordinates while the orientation variable is controlled with simple proportional controller. The extension relies on a specific normalization of navigation function gradient. Presented method results in much more rapid convergence in comparison to classic...
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