Search results for " Rob"
showing 10 items of 689 documents
CAD-Based Training of an Expert System and a Hidden Markov Model for Obstacle Detection in an Industrial Robot Environment
2012
Abstract Deploying industrial robots in harsh outdoor environments require additional functionalities not currently provided. For instance, movement of standard industrial robots are pre-programmed to avoid collision. In dynamic and less structured environments, however, the need for online detection and avoidance of unmodelled objects arises. This paper focus on online obstacle detection using a laser sensor by proposing three different approaches, namely a CAD-based Expert System (ES) and two probabilistic methods based on a Hidden Markov Model (HMM) which requires observation based training. In addition, this paper contributes by providing a comparison between the CAD-based ES and the tw…
Lightguide Technology For Adverse Industrial Environments
1987
The lightguide technology has several unique fetures that open up new possibilities of its applications in alverse environments. These factors make this technology attractive in comparizon with classical metal cable based and radio technologies. In the paper we will review relevant works carried out in this country, namely: techno-logical specialization processess for industrial application oriented optical fibres and cables, classification of adverse environments and design rules for cables and optoelectronics, description of our technological facility, fiber optic health protection systems in adverse environments, example of real life applications of ruggedized fibre optic systems in HV/H…
An Analysis Method of the Electro-Hydraulic Rotational Module
2012
The paper presents a dynamic research of a rotational module of structure to industrial robot MA 221, to establish the functional characteristics that recommend it for use in the structure of the robot. Actual research performed by two methods: BODE and STEP response of the established the construction parameters values of electro-hydraulic servo-system for stable operation.
Design optimization on the drive train of a light-weight robotic arm
2011
A drive train optimization method for design of light-weight robots is proposed. Optimal selections of motors and gearboxes from a limited catalog of commercially available components are done simultaneously for all joints of a robotic arm. Characteristics of the motor and gearbox, including gear ratio, gear inertia, motor inertia, and gear efficiency, are considered in the drive train modeling. A co-simulation method is developed for dynamic simulation of the arm. A design example is included to demonstrate the proposed design optimization method.
Local Monitor Implementation for Decentralized Intrusion Detection in Secure Multi–Agent Systems
2007
This paper focuses on the detection of misbehav- ing agents within a group of mobile robots. A novel approach to automatically synthesize a decentralized Intrusion Detection System (IDS) as well as an efficient implementation of local monitors are presented. In our scenario, agents perform possi- bly different independent tasks, but cooperate to guarantee the entire system’s safety. Indeed, agents plan their next actions by following a set of logic rules which is shared among them. Such rules are decentralized, i.e. they depend only on configurations of neighboring agents. However, some agents may not be acting according to this cooperation protocol, due to spontaneous failure or tampering.…
Identification and robust control of DC/DC converter Hammerstein model
2008
Abstract—This paper deals with model-based robust control of dc/dc power electronic converters. The converter is described by means of a Hammerstein model consisting of the nonlinear static characteristics of the converter and a linear time-invariant (LTI) uncertainmodel whose parameters depend on the actual duty-cycle operating range. This suggests that the controller be designed using robust control techniques. In view of applying robust control, identification of the earlier LTI models is performed by means of simulation experiments, carried out on a converter switching model implemented onMATLAB/SIMULINK environment. Internal model control (IMC) structure is employed for the controller …
Fuzzy Data Fusion for Real-World Mapping Using 360° Rotating Ultrasonic Sensor
1997
Abstract Mobile robot perception of the external environment is limited by the features of the used sensor. An useful technique used to improve robot perception is data fusion. This paper presents an approach to build a map of an unknown environment applying fuzzy data fusion methods to data acquired through an ultrasonic sensor. Conditioning of these data and motion control of the mobil robot by fuzzy data fusion are also described. The resulting two dimensional map is used for path planning and navigation. The proposed approach is exrperimentally tested using real distance measures acquired by a 360° rotating sensor.
Zigler-Nicols PID Tuning Method for Position Control of a Mobile Robot
2016
This paper presents the implementation and the tuning of PID controller for a mobile platform with differential steering. It presents a mobile platform built in the Department of Industrial Machinery & Equipment, of the Engineering Faculty of Sibiu for an European contest. In a first phase, a brief introduction to PID controller is made, followed by a description of the various robot's components and traction principles underlying locomotion of mobile platforms. At the end the paper contains several principles of tuning the PID controller for the mobile robot.
Hammerstein Model-Based Robust Control of DC/DC Converters
2007
This paper deals with model-based robust control of DC/DC power electronic converters. The converter is modelled by means of its static characteristic and a few continuous-time linear and time-invariant (LTI) models corresponding to contiguous ranges of duty-cycle. The model appears as a Hammerstein model in which the values of the parameters of the LTI part depend on the actual duty-cycle operating range. This suggests to describe the converter as an uncertain system to be controlled using robust control techniques. Frequency domain approach is used for describing the nominal model and the uncertainty. In view of applying robust control, identification of the LTI models is performed by mea…
SmartLeg: An intelligent active robotic prosthesis for lower-limb amputees
2011
In recent years, there has been a worldwide interest in improvement of mobility of people with lower limb amputation. In spite of significant development of new technologies during the last decade, commercial below-knee and above-knee prostheses are still energetically passive devices. However, many locomotive functions, like walking up stairs and slopes, need significant power in knee and ankle joints. The additional power for doing previously mentioned activities needs to be achieved by means of external energy sources, which should be integral prosthetic components. This paper presents preliminary investigations towards an active robotic prosthesis that could potentially enable people wi…