Search results for "Control and Systems Engineering"

Convergent Analytic Solutions for Homoclinic Orbits in Reversible and Non-reversible Systems

2013

In this paper, convergent, multi-infinite, series solutions are derived for the homoclinic orbits of a canonical fourth-order ODE system, in both reversible and non-reversible cases. This ODE includes traveling-wave reductions of many important nonlinear PDEs or PDE systems, for which these analytical solutions would correspond to regular or localized pulses of the PDE. As such, the homoclinic solutions derived here are clearly topical, and they are shown to match closely to earlier results obtained by homoclinic numerical shooting. In addition, the results for the non-reversible case go beyond those that have been typically considered in analyses conducted within bifurcation-theoretic sett…

Modified post-bifurcation dynamics and routes to chaos from double-Hopf bifurcations in a hyperchaotic system

2012

In order to understand the onset of hyperchaotic behavior recently observed in many systems, we study bifurcations in the modified Chen system leading from simple dynamics into chaotic regimes. In particular, we demonstrate that the existence of only one fixed point of the system in all regions of parameter space implies that this simple point attractor may only be destabilized via a Hopf or double Hopf bifurcation as system parameters are varied. Saddle-node, transcritical and pitchfork bifurcations are precluded. The normal form immediately following double Hopf bifurcations is constructed analytically by the method of multiple scales. Analysis of this generalized double Hopf normal form …

Force/Torque-Sensorless Joint Stiffness Estimation in Articulated Soft Robots

2022

Currently, the access to the knowledge of stiffness values is typically constrained to a-priori identified models or datasheet information, which either do not usually take into ac- count the full range of possible stiffness values or need extensive experiments. This work tackles the challenge of stiffness estimation in articulated soft manipulators, and it proposes an innovative solution adding value to the previous research by removing the necessity for force/torque sensors and generalizing to multi-degree- of-freedom robots. Built upon the theory of unknown input-state observers and recursive least-square algorithms, the solution is independent of the actuator model parameters and its in…

Robust and Decoupled Position and Stiffness Control for Electrically-Driven Articulated Soft Robots

2022

The control of articulated soft robots, i.e. robots with flexible joints and rigid links, presents a challenge due to their in- trinsic elastic elements and nonlinear force-deflection dependency. This letter first proposes a discrete-time delayed unknown input- state observer based on a nominal robot model that reconstructs the total torque disturbance vector, resulting from the imperfect knowledge of the elastic torque characteristic, external torques, and other model uncertainties. Then, it introduces a robust controller, that actively compensates for the estimated uncertainty and allows bounded stability for the tracking of independent link position and joint stiffness reference signals.…

Fault Detection, Isolation, andTolerant Control of Vehicles using Soft Computing Methods

2014

Intention recognition in manufacturing applications

2015

In this article, we present a novel approach to intention recognition, based on the recognition and representation of state information in a cooperative human-robot environment. States are represented by a combination of spatial relations along with cardinal direction information. The output of the Intention Recognition Algorithms will allow a robot to help a human perform a perceived operation or, minimally, not cause an unsafe situation to occur. We compare the results of the Intention Recognition Algorithms to those of an experiment involving human subjects attempting to recognize the same intentions in a manufacturing kitting domain. In almost every case, results show that the Intention…

The Working Hydraulics of Valve-Controlled Mobile Machines: Classification and Review

2020

Abstract Productivity, reliability, controllability, flexibility, and affordable costs represent key aspects in mobile machines. Additionally, due to the high fuel price and the introduction of stringent emission regulations for diesel engines, the reduction of fuel consumption while persevering the existing performance is the current demand. In order to satisfy and maximize the above requirements, different hydraulic system architectures have been developed during the last decades. Both academia and industry have been investing considerable resources delivering numerous outcomes that require a classification. This review paper closes this gap by analyzing and classifying the working hydrau…

Variable Step Size P&O Algorithms for Coalescing Pump/Deoiling Hydrocyclone Produced Water Treatment System

2020

This paper presents three variable step size P&O algorithms for optimizing the separation efficiency of a coalescing pump/deoiling hydrocyclone produced water treatment system. By continuously adjusting the pumping pressure, and subsequently the coalescing effect, the algorithms are used to minimize the oil concentration downstream the hydrocyclone. Due to the variable step size, the algorithms react rapidly to changes in the upstream produced water characteristics, at the same time as they reduce (or eliminate) steady-state oscillations. Based on both simulation and experimental testing, the study discusses advantages and disadvantages of the algorithms.

Detecting crop water status in mature olive orchards using vegetation spectral measurements.

2014

Full spectral measurements (350–2500 nm) at tree canopy and leaf levels and the corresponding leaf water potentials (LWP) were acquired in an olive grove of Sicily, at different hours of the day, during summer season 2011. The main objective of the work was to assess, on the basis of the experimental data-set, two different approaches to detect crop water status in terms of LWP. Specifically, using existing families of Vegetation Indices (VIs) and applying Partial Least Squares Regression (PLSR) were optimised and tested. The results indicated that a satisfactory estimation of LWP at tree canopy and leaf levels can be obtained using vegetation indices based on the near infrared–shortwave in…

Effect of plot size on measured soil loss for two Italian experimental sites

2011

The objective of this investigation was to determine empirically the plot width and length effects on runoff volume, Ve, soil loss, Ae, and sediment concentration, Ce, by using data collected, at the temporal scale of the erosive event, on bare plots differing in width (2 to 8 m) and length (11 to 22 m) for two Italian stations (Masse, Umbria; Sparacia, Sicily). Mean results differed by a maximum factor of 1.6 for Ve, 1.8 for Ae and 1.2 for Ce when plots differing in width were compared and by a maximum factor of 1.4 for Ve, 1.2 for Ae and 1.3 for Ce when comparison between plot lengths was conducted. Differences between two plot widths or two plot lengths were not statistically significant…