This paper investigates the multirate networked industrial process control problem in double-layer architecture. First, the output tracking problem for sampled-data nonlinear plant at device layer with sampling period $T_{d}$ is investigated using adaptive neural network (NN) control, and it is shown that the outputs of subsystems at device layer can track the decomposed setpoints. Then, the outputs and inputs of the device layer subsystems are sampled with sampling period $T_{u}$ at operation layer to form the index prediction, which is used to predict the overall performance index at lower frequency. Radial basis function NN is utilized as the prediction function due to its approximation ability. Then, considering the dynamics of the overall closed-loop system, nonlinear model predictive control method is proposed to guarantee the system stability and compensate the network-induced delays and packet dropouts. Finally, a continuous stirred tank reactor system is given in the simulation part to demonstrate the effectiveness of the proposed method.

A Combined Adaptive Neural Network and Nonlinear Model Predictive Control for Multirate Networked Industrial Process Control

Cognitive developmental robotics (CDR) aims to provide new understanding of how human's higher cognitive functions develop by means of a synthetic approach that developmentally constructs cognitive functions. The core idea of CDR is ldquophysical embodimentrdquo that enables information structuring through interactions with the environment, including other agents. The idea is shaped based on the hypothesized development model of human cognitive functions from body representation to social behavior. Along with the model, studies of CDR and related works are introduced, and discussion on the model and future issues are argued.

/pdf/cognitive-developmental-robotics-a-survey-2sijevr6tq.pdf

Cognitive Developmental Robotics: A Survey

Machine tool feed drives

Thank you for downloading hydraulic control systems. As you may know, people have look numerous times for their chosen readings like this hydraulic control systems, but end up in infectious downloads. Rather than reading a good book with a cup of tea in the afternoon, instead they are facing with some infectious bugs inside their laptop. hydraulic control systems is available in our book collection an online access to it is set as public so you can get it instantly. Our book servers saves in multiple countries, allowing you to get the most less latency time to download any of our books like this one. Merely said, the hydraulic control systems is universally compatible with any devices to read.

Hydraulic Control Systems

http://www.ece.ualberta.ca/~tbs/pmwiki/pdf/CEP-Mohammadi-2012.pdf

Nonlinear Disturbance Observer Design For Robotic Manipulators

It is important to decrease cost of power assist bicycles for their wide spread. Because force sensors for pedaling torque estimation are expensive, torque sensorless pedaling torque estimation is a good way to reduce cost. Therefore, in this paper, a pedaling torque estimation method for power assist bicycles is proposed. It can be implemented only in front and rear wheel independently driven type power assist bicycles, which were also proposed by the authors. In the proposed method, front and rear wheels are controlled to be the same velocity. Owing to this, a friction coefficient between a front wheel and the ground is equal to a friction coefficient between a rear wheel and the ground. Hence, we can eliminate one unknown parameter, a friction coefficient, from motion equations. In addition, because the proposed power assist bicycles have two motors, both external torques of front and rear wheels can be estimated. Together with data from acceleration sensor and the two estimated external torques, pedaling torque, normal forces on each wheel, and running resistance, can be estimated in real-time by using an iterative least square method. The validity of the proposed method is verified by simulations and experiments.

Sensorless pedaling torque estimation by front and rear wheels independently driven power assist bicycle

This paper proposes a real-time image processing system for wheelchair recognition at elevator lobby. This system extracts objects with frame difference method. From the image of extracted objects, heads of people are detected by the Hough transform. Vertical shooting from ceiling improves the performance of people counting since the detected head has high roundness and occlusion of people is prevented. Two feature quantities are introduced to recognize wheelchairs. They are the area value and the ratio of traveling length to vertical length. Since these quantities re- quire a method for drawing the contour line. This paper proposes a new simple method to draw a contour line. The effectiveness of this system is confirmed through experiments.

/pdf/counting-people-and-recognizing-wheelchairs-at-elevator-1pphd174dt.pdf

Counting People and Recognizing Wheelchairs at Elevator Lobby by Real-Time Image Processing

Intrinsic contact sensing is a method of using force sensors for separate tactile sensing without sensors arranged on the outer shell. Although the method is effective in some applications, the method has been limited to a fixed geometric shape. This study therefore proposes a method for movable structures. The contact position is estimated without geometric shape information by utilizing force/torque change over time. Additionally, this paper has proposed a method of eliminating the gravity term, which is a problem when using a structure-variable end effector as an interface. Calibration to decrease the calculation error was also introduced. Experimental evaluation using a wagon with drawers as the structure-variable object was done to verify the effectiveness of the proposed method.

Intrinsic Contact Sensing for Touch Interface With Movable Structure

Accurate force sensing is essential for skilled robot motion, while the limitation of the dynamic range is one of the major issues for force sensing. This paper deals with the development of a miniature six-axis force sensor with the aim of enabling robotic force detection across a high dynamic range (HDR). A miniaturized structure for the multistage structure of the HDR force sensor is designed by horizontally arranging two bodies: a low-rigidity thin beam inside a high-rigidity thick beam. The proposed sensor demonstrated performance superior to that of a conventional force sensor in the low load region, even with the inexpensive and lightweight resin material. Although creep and stress relaxation degrade the sensor’s accuracy, these effects could be reduced by 80 percent with a correction filter.

Miniaturization of multistage high dynamic range six-axis force sensor composed of resin material

In recent years, studies of biped locomotion have been developed rapidly. Biped robots are able to walk smoothly. In addition, there came some robots which were able to run. Walking and running will be basic performances of biped robots in future. In this paper, we propose a new trajectory planning method, applicable to plan both walking and running motions. The two kinds of motions are treated as a unified trajectory. The trajectory consists of two phases; sinusoidal trajectory and parabolic trajectory. With this method, we plan walking and running motions for a biped robot in a unified manner, and switch between walking state and running state by parameter modification. We simulated and experimented with the proposed trajectory planning method.

Trajectory planning of biped robot for running motion

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