Search results for "Machine"
showing 10 items of 2592 documents
Remote programming of network robots within the UJI Industrial Robotics Telelaboratory: FPGA vision and SNRP network protocol
2009
This paper presents the UJI Industrial Robotics Telelaboratory, which lets Ph.D. and Master’s degree students perform robotics and computer vision tele-experiments. By using this system, students are able to program experiments remotely via the Web, in order to combine the use of a field-programmable gate array (FPGA) to provide real-time vision processing, a conveyor belt, and a Motoman industrial manipulator. This paper introduces the novel SNRP protocol (i.e., Simple Network Robot Protocol), which permits the integration of network robots and sensors within an e-learning platform in a simple and reliable manner. As long as the students are able to interact remotely with a real robotic sc…
Spectral Characterization of a Prototype SFA Camera for Joint Visible and NIR Acquisition
2016
International audience; Multispectral acquisition improves machine vision since it permits capturing more information on object surface properties than color imaging. The concept of spectral filter arrays has been developed recently and allows multispectral single shot acquisition with a compact camera design. Due to filter manufacturing difficulties, there was, up to recently, no system available for a large span of spectrum, i.e., visible and Near Infra-Red acquisition. This article presents the achievement of a prototype of camera that captures seven visible and one near infra-red bands on the same sensor chip. A calibration is proposed to characterize the sensor, and images are captured…
VISOCAR: an autonomous industrial transport vehicle guided by visual navigation
2003
The authors describe a vision system, called VISOCAR, for mobile robot guidance in industrial environments. VISOCAR is an optically navigating AGV (automatically guided vehicle) that, owing to its local intelligence, can travel automatically in its natural environment, does not need any dedicated floor installations, and does not impose any restrictions on the route network or factory environment. It can navigate accurately on its track and integrate multisensor information to enhance functional redundancy and system reliability. It is shown that the navigation task can be broken down into a hierarchy of goals, which can be attained by functionally independent modules. The system architectu…
Electrostatic synchronous generator model of an Inverter-Based Distributed Generators
2015
In this paper, the idea of modelling the Inverter-Based Distributed Generators by using the concept of Electrostatic synchronous machines is discussed. A mathematical model of the inverter has been established which depends on the dc bus voltage, modulation index and frequency of the system. Two mathematical models have been developed: a small signal model and a steady-state model. These mathematical models will be helpful in studying the stability of a microgrid; especially when studying the transient stability performance of on-grid operation of converter-based distributed generator with multi-machine microgrid. Simulation results using Matlab/Simulink are carried out.
Validation Specimen for Contour Method Extension to Multiple Residual Stress Components
2007
A new theoretical development of the contour method [1], that allow the user to measure the three normal residual stress components on cross sections of a generic mechanical part, is presented. To validate such a theoretical development, a residual stress test specimen was properly designed, fabricated and then tested with different experimental techniques.
A polynomial algorithm solving a special class of hybrid optimal control problems
2006
Hybrid optimal control problems are, in general, difficult to solve. A current research goal is to isolate those problems that lead to tractable solutions [5]. In this paper, we identify a special class of hybrid optimal control problems which are easy to solve. We do this by using a paradigm borrowed from the Operations Research field. As main result, we present a solution algorithm that converges to the exact solution in polynomial time. Our approach consists in approximating the hybrid optimal control problem via an integer-linear programming reformulation. The integer-linear programming problem is a Set-covering one with a totally unimodular constraint matrix and therefore solving the S…
Reliable estimates in the anisotropic heat conduction problems
2014
Abstract The heat conduction problems for anisotropic bodies are studied taking into account the uncertainties in the material orientation. The best estimations of the upper and lower bounds of the considered energy dissipation functional are based on developing new approach consisting in solution of some optimization problems and finding the extremal internal material structures, which realize minimal and maximal dissipation. The motivation of this study comes from paper making processes, and more precisely, drying process, which consumes about 50% of the energy fed into the paper machine. The understanding of the effect of uncertainties in the process arises from structural properties of …
Mathematical modelling of an inverter-based distributed generator
2016
In this paper, a modeling approach of a three phase power inverter based on an electrostatic synchronous machine is presented. By the proposed approach, any inverter-based distributed generator in a microgrid can be replaced by an equivalent electrostatic machine. This paper aims to promote the use of the proposed modeling approach in the analysis of microgrid stability. Thanks to the proposed modeling approach, transient performances of on-grid operation of converter-based distributed generators could be easily analyzed by multi-machine models. Parameters of the equivalent synchronous electrostatic machine model are derived to achieve equivalence with the inverter model. Small signal model…
Robust adaptive backstepping control design for a Nonlinear Hydraulic-Mechanical System
2009
The complex dynamics that characterize hydraulic systems make it difficult for the control design to achieve prescribed goals in an efficient manner. In this paper, we present the design and analysis of a robust nonlinear controller for a Nonlinear Hydraulic-Mechanical (NHM) System. The system consists of an electrohydraulic servo valve and two hydraulic cylinders. Specifically, by considering a part of the dynamics of the NHM system as a norm-bounded uncertainty, two adaptive controllers are developed based on the backstepping technique that ensure the tracking error signals asymptotically converge to zero despite the uncertainties in the system according to the Barbalat lemma. The resulti…
MRAS speed observer for high performance linear induction motor drives based on linear neural networks
2011
This paper proposes a Neural Network (NN) MRAS (Model Reference Adaptive System) speed observer suited for linear induction motor (LIM) drives. The voltage and current models of the LIM in the stationary reference frame, taking into consideration the end effects, have been obtained. Then, equations of the induced part have been discretized and rearranged so as to be represented by a linear neural network the TLS EXIN neuron, which has been used to compute the machine linear speed on-line and in recursive form. The proposed NN MRAS observer has been tested experimentally on a suitably developed test setup. Its performance has been also compared to the classic MRAS speed observer.