Search results for "industrial engineering"
showing 10 items of 835 documents
State-space formulation of scalar Preisach hysteresis model for rapid computation in time domain
2015
A state-space formulation of classical scalar Preisach model (CSPM) of hysteresis is proposed. The introduced state dynamics and memory interface allow to use the state equation, which is rapid in calculation, instead of the original Preisach equation. The main benefit of the proposed modeling approach is the reduced computational effort which requires only a single integration over the instantaneous line segment in the Preisach plane. Numerical evaluations of the computation time and model accuracy are provided in comparison to the CSPM which is taken as a reference model.
On asymmetric periodic solutions in relay feedback systems
2021
Abstract Asymmetric self-excited periodic motions or periodic solutions which are produced by relay feedback systems that have symmetric characteristics are studied in the paper. Two different mechanisms of producing an asymmetric oscillation by a system with symmetric properties are noted and analyzed by the locus of a perturbed relay system (LPRS) method. Bifurcation between the ability to excite symmetric and asymmetric oscillation with variation of system parameters is analyzed. An algorithm of finding asymmetric solutions is proposed.
Interaction Capabilities of a Robotic Receptionist
2017
A system aimed at facilitating the interaction between a human user and an humanoid robot is presented. The system is suited to answer questions about laboratories activities, people involved, projects, research themes and collaborations among employees. The task is accomplished by the HermiT reasoner invoked by a speech recognition module. The system is capable of navigating a specific ontology making inference on it. The presented system is part of a broader social robot framework whose goal is to give the user a fulfilling social interaction experience, driven by the perception of the robot internal state and involving intuitive and computational creativity capabilities.
Optimization of 3-DOF Parallel Motion Devices for Low-Cost Vehicle Simulators
2017
Motion generation systems are becoming increasingly important in certain Virtual Reality (VR) applications, such as vehicle simulators. This paper deals with the analysis of the Inverse Kinematics (IK) and the reachable workspace of a three-degrees-of-freedom (3-DOF) parallel manipulator, proposing different transformations and optimizations in order to simplify its use with Motion Cueing Algorithms (MCA) for self-motion generation in VR simulators. The proposed analysis and improvements are performed on a 3-DOF heave-pitch-roll manipulator with rotational motors, commonly used for low-cost motion-based commercial simulators. The analysis has been empirically validated against a real 3-DOF …
Partial Stabilization of Input-Output Contact Systems on a Legendre Submanifold
2017
This technical note addresses the structure preserving stabilization by output feedback of conservative input-output contact systems, a class of input-output Hamiltonian systems defined on contact manifolds. In the first instance, achievable contact forms in closed-loop and the associated Legendre submanifolds are analysed. In the second instance the stability properties of a hyperbolic equilibrium point of a strict contact vector field are analysed and it is shown that the stable and unstable manifolds are Legendre submanifolds. In the third instance the consequences for the design of stable structure preserving output feedback are derived: in closed-loop one may achieve stability only rel…
Adaptive-Gain Observers and Applications
2007
We distinguish two kinds of observers for nonlinear systems which are used by scientists and engineers: empirical observers and converging observers.
Субфинслерова задача на группе Картана
2019
Изучается задача субфинслеровой геометрии на свободной нильпотентной группе ранга $2$ глубины $3$. Такая группа также называется группой Картана, она имеет естественную структуру группы Карно, на которой вводится метрика с помощью $\ell _\infty $-нормы на ее первом слое. Используются методы теории оптимального управления. С помощью принципа максимума Понтрягина охарактеризованы экстремальные кривые. Описаны анормальные и особые дуги, построен релейный поток.
Digital Signal Processing with Kernel Methods
2018
Análisis para la Implementación del Sistema de Gestión de Calidad y del Sistema de Gestión Ambiental para el Laboratorio de Análisis Instrumental de …
2019
El Laboratorio de Análisis Instrumental ubicado en el 5to piso del Edificio No. 17 de la Escuela Politécnica Nacional brinda servicios de análisis de gases de pozo, biogás, biocidas, solventes, vidrios laminados y templados, entre otros; no obstante, no cuenta con un sistema integrado de Gestión que incluya la ISO 9001:2015 ni ISO 14001:2015, los cuales deberían ser una base fundamental a fin de permitir una dirección basada en la optimización de procesos con una disminución de los impactos ambientales que puede generar cualquier empresa. Con estos antecedentes, el presente trabajo tiene por objetivo desarrollar un mecanismo para implementación de un SIG y que vaya acorde a la normativa ISO…
Adaptive backstepping control of uncertain systems in the presence of unmodeled dynamics and time-varying delays
2016
In this paper, the problem of adaptive backstepping control for uncertain systems in the presence of unmodeled dynamics and input time-varying delays is studied. Under some mild assumptions, a robust adaptive controller is designed such that the system is globally stabilized by using adaptive backstepping technique. Meanwhile, the transient system performance in L2 and norms of system output can be adjusted by choosing the design parameters. Finally, a simulation example is given to show the effectiveness of the results.