• Modeling the differential motion of a mobile manipulator and designing a new visual servoing for tracking a flying targetModeling the differential motion of a mobile manipulator and designing a new visual servoing for tracking a flying target

    This article has shown a process for modelling the differential motion of a mobile manipulator by using Paul’s algorithm. Subsequently, a fully novel visual servoing for tracking a flying target is designed with the purpose of making the target’s image feature tend asymptotically to the center of the image plane when both the mobile robot and the ...

    pdf17 trang | Chia sẻ: huongthu9 | Ngày: 11/08/2021 | Lượt xem: 447 | Lượt tải: 0

  • Sliding mode control for a planar parallel robot driven by electric motors in a task spaceSliding mode control for a planar parallel robot driven by electric motors in a task space

    This paper presented the modeling of a parallel robot driven by DC motors. The equations of motion for parallel manipulator were derived by using the redundant generalized coordinates and the Lagrangian multipliers. Moreover, the dynamics of DC motors were also integrated in the whole models of the system. The obtained model in this study include...

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  • Designing optimal fuzzy controller for mrd-Based train-car suspension systemsDesigning optimal fuzzy controller for mrd-Based train-car suspension systems

    While the NUO compensated for UAD. By using the ANFIS-I-MRD and the control force estimated by the FDIC, the current for the MRD to stamp out chassis vibration was then determined. The stability of the FDIC was analyzed via Lyapunov stability theory. The effectiveness of the FDIC was validated via a comparative work with the NFSmUoC and the pas...

    pdf19 trang | Chia sẻ: huongthu9 | Ngày: 11/08/2021 | Lượt xem: 496 | Lượt tải: 0

  • Passivity based on energy tank for cartesian impedance control of dlr space robots with floating base and elastic jointsPassivity based on energy tank for cartesian impedance control of dlr space robots with floating base and elastic joints

    This paper presented a novel method to derive a dynamic model for a free-floating robot in operational space, which is necessary for the control design. Furthermore, a Cartesian impedance control design is derived from this, based on using energy tank to ensure passivity of the controlled system. Therefore, the controlled system can achieve stab...

    pdf13 trang | Chia sẻ: huongthu9 | Ngày: 11/08/2021 | Lượt xem: 503 | Lượt tải: 0

  • Program motion of unloading manipulatorsProgram motion of unloading manipulators

    In the paper a new method for controlling the manipulator to move a load along a required trajectory is considered. Such problem belongs to type of controlling the program motion. This is one of the most important problems in controlling manipulators. This paper proposes a method for the problem of interest based on of a new point of view that t...

    pdf8 trang | Chia sẻ: huongthu9 | Ngày: 11/08/2021 | Lượt xem: 478 | Lượt tải: 0

  • Establishment of mrv procedures for namas development in the steel industryEstablishment of mrv procedures for namas development in the steel industry

    Based on the gap analysis and considering the existing experience with GHG inventories and GHG accounting in the industry, this study proposes the set of indicators to ensure that the MRV system for the steel industry meets the expectation of NAMA supporters. Concretely, the study suggests the introduction of a scheme with the following roles fo...

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  • Comparative stable walking gait optimization for small-Sized biped robot using meta-heuristic optimization algorithmsComparative stable walking gait optimization for small-Sized biped robot using meta-heuristic optimization algorithms

    In this paper, we propose a new study using the CFO algorithm as to optimize the parameters of walking pattern generation for biped robots that permits stable and robust stepping with pre-set foot-lifting magnitude. Completed experiments are determined based on novel gait generator of the two-foot trajectory, hip trajectory and the inverse kine...

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  • Effective conductivity of isotropic composite with kapitza thermal resistanceEffective conductivity of isotropic composite with kapitza thermal resistance

    The paper presents the methods to compute the effective conductivity of composites with imperfect interfaces of Kapitza’s type. In this case, the temperature is discontinuous while the flux remaining continuous across the interface. First approach is based on the model of circle assemblage with thin coating. Second approach is based on the FFT s...

    pdf9 trang | Chia sẻ: huongthu9 | Ngày: 11/08/2021 | Lượt xem: 497 | Lượt tải: 0

  • Backone equation of state for cis-1,3,3,3-tetrafluoropropene (r1234ze(z))Backone equation of state for cis-1,3,3,3-tetrafluoropropene (r1234ze(z))

    Fig. 6. Deviation of liquid density data (ρl,cal) from the BACKONE EOS and experimental data (ρl,exp) of Higashi [8]. 5. CONCLUSION Equation of state for R1234ze(Z) was developed by using experimental data for vapor pressure and 0.4 280 300 320 340 360 380 T(K) Equation of state for R1234ze(Z) was developed by using experimental data for vap...

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  • Influence of the driving frequency and equivalent parameters on displacement amplitude of electrostatic linear comb actuatorInfluence of the driving frequency and equivalent parameters on displacement amplitude of electrostatic linear comb actuator

    Micro electromechanical system (MEMS) is an advance technology and widely applied in many fields like robotics, transportation, aerospace, medicine, or in electronic industry, etc. Micro actuators are one of the MEMS products and play an important role which generates a power to drive the micro devices as well as micro systems. Electrostatic Line...

    pdf10 trang | Chia sẻ: huongthu9 | Ngày: 11/08/2021 | Lượt xem: 485 | Lượt tải: 0