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In this paper, the conceptual design with integrating motion control and considering the cross current was applied to establish a submarine motion simulator, where the path motion stability is evaluated. The methods used to construct the simulator include the standard navigation approach by applying the LOS algorithms and PD control Euler-Rodriguez quaternion for conversion between submarines motion...
In order to solve the curved-path path following problem for underactuated autonomous underwater vehicle (AUV) in the presence of ocean currents, this paper proposes a modified Line-of-Sight (LOS) path following control strategy. The guidance law is derived based on a new path-following error kinematic model with relative velocities of the vehicle in the Serret-Frenet frame, which makes the AUV produce...
Presenting a coordinated control algorithm that takes into account both electric stability control (ESC) and drive force assisted steering (DFAS) performance. It introduces the correction factor ki of the driving force when driving the power steering, which designed by fuzzy control the factor with the different vehicle attitude and conditions of the rules of change, and finally the basic control...
This paper proposes the improvement method of operability in a bilateral control by using visual information. The bilateral control system consists of a master system which is manipulated by the operator and a slave system which contacts remove environment. Considering the actual use of the bilateral control, the operator manipulates the master system while watching the visual information from the...
Automation systems, as well as process control, has played a key role in the industry nowadays. For good system performance, it is necessary that mathematical model is closest to the real model, which is detailed in this work. The objective of this study is to present a modeling (considering the viscous friction), stability analysis and simple PID controller tuning using as an example, an arm with...
The thumb and index finger are important digits to performed dexterous and complex manipulation of objects. However, the local muscle fatigue will induce the capacity of force production and impair the precision motor control of the thumb and index finger. This study focused on the exercise-induced local muscle fatigue influencing the COP (center of pressure) area, the SD and the PA (projection angle)...
In this paper, we present a fall risk assessment analysis for geriatric population using Kinect, based on study of postural sway variation with progression of age. Fall risk is closely associated with static postural stability. Static postural control is commonly evaluated by analyzing sway of Centre of Pressure (CoP), measured using a force platform. We have estimated the sway of Centre of Mass (CoM)...
Chatter vibration highly limits the accuracy and the material removal rate of numerical control (NC) machining operations. In this paper, an adaptive spindle speed selection method, based on an analysis using the semi-discretization method, is proposed to avoid and minimize chatter vibration in high-precision NC machining. Moreover, the proposed method is robust to modeling uncertainty and changing...
The tonic postural system guarantees the stability of the human body in upright stance and during locomotion. It is considered as a complex organization which involves several internal systems and has multiple sources of information. In this paper, we provide a review of techniques and materials for human stability assessment. The primary tools to record and evaluate human sways in static posture...
Transparency and stability issues have been a major concern for haptic tele-operation. Researchers in this area have already shown that a minimum refresh rate of 1 kHz is required to achieve smoothness for human perception in force-feedback experiments. This rate requires the highest priority for real-time applications to achieve transparent haptic tele-presence. As a result, this rate leads to a...
This paper deals with distributed and cooperative control algorithm to make each agents to form a formation for a second-order system. However, when forming a formation with a multi-agent system, there is a possibility that the agents collide with each other or collide with obstacles other than the agent. Also, if the agents avoid other agents and obstacles, the distance between agents may be temporarily...
Permanent magnet linear motors (PMLM) are widely used in high precision machineries. With the removal of the transmission elements, the positioning performances of PMLM are easily affected by parameter variations and external disturbances. Various control approaches were proposed, yet it was noticed that majority of these controllers have complex design procedures, and require accurate model parameters...
This paper addresses a novel slip-ratio-based torque distribution strategy for electric vehicles (EVs) to avoid slippage when driving over a split friction surface. With the combination to an upper and middle controller, the desired driving force and yaw moment can be distributed to four driving wheels by utilizing the proposed lower controller. Stability analysis by using Lyapunov theorem is presented...
In this paper, stability properties of three different human-in-the-loop telerobotic system architectures are comparatively investigated, in the presence of human reaction time-delay and communication time-delays. The challenging problem of stability characterization of systems with multiple time-delays is addressed by implementing rigorous stability analysis tools, and the results are verified via...
In this paper, the distributed adaptive finite-time consensus tracking control algorithm is proposed for multi-AUV(autonomous underwater vehicle) systems. Firstly, the graph theory is used to describe the communication topology of multi-AUV system. Secondly, a nonsingular fast terminal sliding mode is designed and the distributed control law is constructed for the multi-AUV system based on the force...
In order to reduce the initial disturbance and improve the stability of air defense missile, the missile launching equations of motion are derived and simplified using the method of modal substitution. Based on these equations, the coupled rigid-flexible dynamic modeling is built in the ADAMS software to analyze the dynamic behavior and stability of missile launching process. The results indicate...
Teleoperation is a human control system enabling humans to interact with the remote environment through a dual robot system which includes a master robot and a slave robot operating in two different places. Wave variables and scattering approaches were proposed in [1],[2] with constant time delay, [3],[4] with varying time delays. This paper develops them based on different wave variables and new...
This paper presents a novel method— asymmetric dual-user shared control method and makes a proof of the stability conditions of the novel method with time delay. Firstly, we model the novel dual-user shared control architecture with multi-dominance factors, considering the influence between the slave and masters respectively. Then, the system is divided into three paralleling subsystems, and the system...
This paper considers a written communication system based on a multilateral teleoperation using robust control. First, a pen equipment as an interface of the written communication system is developed. By using the pen equipment, the proposed written communication system based on sharing haptic information is indicated. Next, the non-passive approach is applied to the written communication system....
A reference vehicle model is proposed for ESC system, which is used for estimating if the vehicle is in stable conditions. The proposed model is a 2-DOFs nonlinear model that contains the lateral motion and rotational motion around vertical axis. When ESC system works, the lateral acceleration is often above 0.4g and the nonlinearity of vehicle can't be ignored. Therefore the nonlinear relationship...
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