Search results for " Mathematics"
showing 10 items of 10797 documents
A class of third order iterative Kurchatov–Steffensen (derivative free) methods for solving nonlinear equations
2019
Abstract In this paper we show a strategy to devise third order iterative methods based on classic second order ones such as Steffensen’s and Kurchatov’s. These methods do not require the evaluation of derivatives, as opposed to Newton or other well known third order methods such as Halley or Chebyshev. Some theoretical results on convergence will be stated, and illustrated through examples. These methods are useful when the functions are not regular or the evaluation of their derivatives is costly. Furthermore, special features as stability, laterality (asymmetry) and other properties can be addressed by choosing adequate nodes in the design of the methods.
Internal model-based feedback control design for inversion-free feedforward rate-dependent hysteresis compensation of piezoelectric cantilever actuat…
2018
Abstract This study proposes a new rate-dependent feedforward compensator for compensation of hysteresis nonlinearities in smart materials-based actuators without considering the analytical inverse model. The proposed rate-dependent compensator is constructed with the inverse multiplicative structure of the rate-dependent Prandtl–Ishlinskii (RDPI) model. The study also presents an investigation for the compensation error when the proposed compensator is applied in an open-loop feedforward manner. Then, an internal model-based feedback control design is applied with the proposed feedforward compensator to a piezoelectric cantilever actuator. The experimental results illustrate that the propo…
On Stability of Virtual Torsion Sensor for Control of Flexible Robotic Joints with Hysteresis
2019
Author's accepted manuscript (postprint). This article has been published in a revised form in Robotica, http://doi.org/10.1017/S0263574719001358. This version is free to view and download for private research and study only. Not for re-distribution or re-use. © 2019 Cambridge University Press. Available from 25/03/2020. Aim of the virtual torsion sensor (VTS) is in observing the nonlinear deflection in the flexible joints of robotic manipulators and, by its use, improving positioning control of the joint load. This model-based approach utilizes the motor-side sensing only and, therefore, replaces the load-side encoders at nearly zero hardware costs. For being applied in the closed control …
Visual contact with catadioptric cameras
2015
Abstract Time to contact or time to collision (TTC) is utmost important information for animals as well as for mobile robots because it enables them to avoid obstacles; it is a convenient way to analyze the surrounding environment. The problem of TTC estimation is largely discussed in perspective images. Although a lot of works have shown the interest of omnidirectional camera for robotic applications such as localization, motion, monitoring, few works use omnidirectional images to compute the TTC. In this paper, we show that TTC can be also estimated on catadioptric images. We present two approaches for TTC estimation using directly or indirectly the optical flow based on de-rotation strat…
Hankelet-based action classification for motor intention recognition
2017
Powered lower-limb prostheses require a natural, and an easy-to-use, interface for communicating amputee’s motor intention in order to select the appropriate motor program in any given context, or simply to commute from active (powered) to passive mode of functioning. To be widely accepted, such an interface should not put additional cognitive load at the end-user, it should be reliable and minimally invasive. In this paper we present a one such interface based on a robust method for detecting and recognizing motor actions from a low-cost wearable sensor network mounted on a sound leg providing inertial (accelerometer, gyrometer and magnetometer) data in real-time. We assume that the sensor…
End-to-end congestion control protocols for remote programming of robots, using heterogeneous networks: A comparative analysis
2008
There are many interesting aspects of Internet Telerobotics within the network robotics context, such as variable bandwidth and time-delays. Some of these aspects have been treated in the literature from the control point of view. Moreover, only a little work is related to the way Internet protocols can help to minimize the effect of delay and bandwidth fluctuation on network robotics. In this paper, we present the capabilities of TCP, UDP, TCP Las Vegas, TEAR, and Trinomial protocols, when performing a remote experiment within a network robotics application, the UJI Industrial Telelaboratory. Comparative analysis is presented through simulations within the NS2 platform. Results show how th…
Formal ontology and CAD integration with macro parametric approach
2017
ABSTRACTThis paper discusses an ontological integration framework in the context of mereotopological formal ontology and CAD systems. Based on a comprehensive literature review of current design knowledge management and formal ontology research works, the authors propose the integration framework that can incorporate design knowledge with CAD systems. The primary role of mereotopology in this research work is the formal representation of design knowledge for the 3D solid assembly models. Most of the existing research works about design ontology present an abstract form and often require significant additional efforts to be integrated into CAD systems. Thus, this work introduces a formal ont…
Rapid and robust on-site evaluation of articulated arm coordinate measuring machine performance
2018
International audience
Homography based egomotion estimation with a common direction
2017
International audience; In this paper, we explore the different minimal solutions for egomotion estimation of a camera based on homography knowing the gravity vector between calibrated images. These solutions depend on the prior knowledge about the reference plane used by the homography. We then demonstrate that the number of matched points can vary from two to three and that a direct closed-form solution or a Gröbner basis based solution can be derived according to this plane. Many experimental results on synthetic and real sequences in indoor and outdoor environments show the efficiency and the robustness of our approach compared to standard methods.
Energy-based fluid–structure model of the vocal folds
2020
AbstractLumped elements models of vocal folds are relevant research tools that can enhance the understanding of the pathophysiology of many voice disorders. In this paper, we use the port-Hamiltonian framework to obtain an energy-based model for the fluid–structure interactions between the vocal folds and the airflow in the glottis. The vocal fold behavior is represented by a three-mass model and the airflow is described as a fluid with irrotational flow. The proposed approach allows to go beyond the usual quasi-steady one-dimensional flow assumption in lumped mass models. The simulation results show that the proposed energy-based model successfully reproduces the oscillations of the vocal …