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This paper presents an analysis of the accuracy of urban railway train's parking together with an elaboration of the system structure and principle of parking control in ATO mode. Through the construction of the model of pneumatic brake unit, the non-linear character of pneumatic brake unit is analyzed, and thereby the strategy of feedback control based on the train's position signal is given. Further...
The main aim of this paper is to design a hybrid force-position controller using fuzzy logic (FL) for the robotic arm of a 9 degrees of freedom (DOF) upper limb wearable exoskeleton rehabilitation robot. The robot is designed and built in our lab for assisting in the rehabilitation of patients post-stroke. The robotic arm of the rehabilitation robot is driven by pneumatic muscles (PM) and its dynamic...
Sensorless Brushless DC motors have been a research focus home and abroad, because their characteristics of small volume, high reliability, strong anti-interference and the ability to overcome inaccurate commutation caused by mechanical installation. This article will carry on a research on the operation principles and performance characteristics of sensorless DC motors and methods that terminal voltage...
In the harbor area, precise steering is the most important operation. This operation requires a set of adequate thrust devices with exactly taken into account surge, sway and yaw motions. However, at low speed maneuvering, the effectiveness of actuators is nominal, thus using assistance of tugboat is necessary to ensure safe berthing operation. In this paper, the mathematical model of system that...
Precise control of Automatic Guided Vehicles (AGVs) navigating between the aisles of manufacturing systems by the use of local markers is an important task. On the basis of the geometric model of the workspace and the vehicles and that of the sensor uncertainties precise trajectories were recently generated along which the vehicle safely can move. In order to achieve precise trajectory tracking the...
In this paper, we report a closed-loop system for introducing static balance to a newly constructed biped called YICAL Leg 2. In the system, an attitude estimation system was developed to detect changes in the tilt and rotation along the hip axis of the biped. The attitude estimation system utilized an accelerometer and a rate gyroscope. A sensor fusion algorithm programmed in a digital signal processor...
The synthesis control of force and position in electro-hydraulic servo system has been applied to some special occasions. Analyzed a typical system which adopted this kind of control algorithm. Applying unchanged structure theory, the compensated transfer function has been deduced, the compensated state-space model is presented. Considering the synthesis control should meet the requirement to force...
This paper attempts to design a power assist system for maneuvering heavy objects in industries based on human operator's perception of object weight. The perceived weight of an object maneuvered with a power assist system is always very much less than the actual weight of the object. But, the human operator cannot differentiate between the perceived weight and the actual weight and eventually applies...
Discontinuous primary permanent magnet linear synchronous motor (DPPMLSM) has many merits in long-stroke transportation, including vertical, horizontal, and slanted model system, however, detent force of DPMLSM is particularly troublesome requiring positioning accuracy specially at low speed region as well as of position control and is different from short primary type and short secondary type PMLSM...
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