Search results for "Mod"
showing 10 items of 39605 documents
Adaptive Control of Soft Robots Based on an Enhanced 3D Augmented Rigid Robot Matching
2021
Despite having proven successful in generating precise motions under dynamic conditions in highly deformable soft-bodied robots, model based techniques are also prone to robustness issues connected to the intrinsic uncertain nature of the dynamics of these systems. This letter aims at tackling this challenge, by extending the augmented rigid robot formulation to a stable representation of three dimensional motions of soft robots, under Piecewise Constant Curvature hypothesis. In turn, the equivalence between soft-bodied and rigid robots permits to derive effective adaptive controllers for soft-bodied robots, achieving perfect posture regulation under considerable errors in the knowledge of …
Dynamic Modeling of Planar Multi-Link Flexible Manipulators
2021
A closed-form dynamic model of the planar multi-link flexible manipulator is presented. The assumed modes method is used with the Lagrangian formulation to obtain the dynamic equations of motion. Explicit equations of motion are derived for a three-link case assuming two modes of vibration for each link. The eigenvalue problem associated with the mass boundary conditions, which changes with the robot configuration and payload, is discussed. The time-domain simulation results and frequency-domain analysis of the dynamic model are presented to show the validity of the theoretical derivation.
A Self-Contained Electro-Hydraulic Cylinder with Passive Load-Holding Capability
2019
Self-contained electro-hydraulic cylinders have the potential to replace both conventional hydraulic systems and the electro-mechanical counterparts enhancing energy efficiency, plug-and-play installation, and reduced maintenance. Current commercial solutions of this technology are limited and typically tailor-made, whereas the research emphasis is primarily on cost efficiency and power applications below five [kW]. Therefore, there is the need of developing more flexible systems adaptable to multiple applications. This research paper offers a contribution in this regard. It presents an electro-hydraulic self-contained single-rod cylinder with passive load-holding capability, sealed tank, c…
A Novel Solution for the Elimination of Mode Switching in Pump-Controlled Single-Rod Cylinders
2020
This paper concerns the stability issue of pump-controlled single-rod cylinders, known as mode switching. First, a review of the topic is provided. Thereafter, the most recently proposed solution for the elimination of mode switching is investigated and shown to result in unstable behavior under certain operating conditions. A theoretical analysis is provided demonstrating the underlying mechanisms of this behavior. Based on the analysis, a novel control strategy is proposed and investigated numerically. Proper operation and stability are demonstrated for a wide range of operating conditions, including situations under which the most recently proposed solution results in unstable behavior a…
A Comparison Study of a Novel Self-Contained Electro-Hydraulic Cylinder versus a Conventional Valve-Controlled Actuator—Part 1: Motion Control
2019
This research paper presents the first part of a comparative analysis of a novel self-contained electro-hydraulic cylinder with passive load-holding capability against a state of the art, valve-controlled actuation system that is typically used in load-carrying applications. The study is carried out on a single-boom crane with focus on the control design and motion performance analysis. First, a model-based design approach is carried out to derive the control parameters for both actuation systems using experimentally validated models. The linear analysis shows that the new drive system has higher gain margin, allowing a considerably more aggressive closed-loop position controller. Several b…
The Advantage of Digital Decision Making for Strategic Decisions – Proofed by a Supply Chain Case
2017
This paper will discuss the advantage of decision making supported by a digital system and will provide an overview of an empiric analysis researched on this topic. Decision making in organizations is a significant system implied task of managers and therefore a broad area in scientific research, not only in the disciplines management or business studies – even from technical to humanistic disciplines. Nowadays the trend of digitalization captures all areas of life especially in business, as well as the typical management task of decision making. Triggered by the digitalization trend business will move toward an autonomous decision making of machines or cyber systems. The important step tow…
Collaboration and Decision-Making in Context
2016
The goal of this chapter is to provide a historical account of the evolutions in the domain of the book and to set the stage for the concepts and solutions to be presented in the following chapters, including the introduction of the terminology adopted to be used throughout this text. Consequently, we aim at providing the answers to a series of questions, such as: (a) “How the organizations have been evolving over the last decades?”, (b) “Which have been the corresponding trends of the management and control schemes?”, (c) “How management and control functions are allocated to human and automation equipment?”, (d) “Which are the desirable properties of the information processing tools meant…
Predictive Model Markup Language (PMML) Representation of Bayesian Networks: An Application in Manufacturing
2018
International audience; Bayesian networks (BNs) represent a promising approach for the aggregation of multiple uncertainty sources in manufacturing networks and other engineering systems for the purposes of uncertainty quantification, risk analysis, and quality control. A standardized representation for BN models will aid in their communication and exchange across the web. This article presents an extension to the predictive model markup language (PMML) standard for the representation of a BN, which may consist of discrete variables, continuous variables, or their combination. The PMML standard is based on extensible markup language (XML) and used for the representation of analytical models…
Generative Design for Additively Manufactured Textiles in Orthopaedic Applications
2021
AbstractThe aim of this work is to implement a new process for the design and production of orthopaedic devices to realize entirely by Additive Manufacturing (AM). In particular, a generative algorithm for parametric modelling of flexible structures to use in orthopaedic devices has been developed. The developed modelling algorithm has been applied to a case study based on the design and production of a customized elbow orthosis made by Selective Laser Sintering. The results obtained have demonstrated that the developed algorithm overcomes many drawbacks typical of traditional CAD modelling approaches. FEM simulations have been also performed to validate the design of the orthosis. The new …
Towards criteria for sustainable process selection: On the modelling of pure subtractive versus additive/subtractive integrated manufacturing approac…
2017
Additive Manufacturing (AM) processes can be counted among the disruptive technologies that are capable of transforming conventional manufacturing routes. The ability to create complex geometries, the reduction in material scraps during manufacturing, and the light-weighting due to the think-additive redesign of the components represent the main points of strength of AM. However, for some applications (such as the production of metal components for the automotive and aerospace industries), the surface finishing and dimensional/geometrical part tolerancing that can be achieved via AM processes might not be adequate to satisfy the imposed product specifications, and finish machining operation…