Global properties of a general dynamic model for animal diseases: A case study of brucellosis and tuberculosis transmission

Forecasting is estimating the size or number of something in the future. Regression model that enters current independent variable value, and lagged value is called distributed-lag model, if it enters one or more lagged value, it is called autoregressive. Koyck method is used for dynamic model which the lagged length is unknown, for the known lagged length it is used the Almon method. Vector Autoregressive (VAR) is a method that explains every variable in the model depend on the lag movement from the variable itself and all the others variable. This research aimed to explain the application of Autoregressive distributed-lag model and Vector Autoregressive (VAR) method for the forecasting for export amount in DIY. It takes export amount in DIY and inflation data, kurs, and Indonesias foreign exchange reserve. Forecasting formation: defining Koyck and Almon distributed-lag dynamic model, then the best model is chosen and distribution-lag dynamic forecasting is performed. After that it is performed stationary test, co-integration test, optimal lag examination, granger causality test, parameter estimation, VAR model stability, and performs forecasting with VAR method. The forecasting result shows MAPE value from ARDL method obtained is 0.475812%, while MAPE value from VAR method is 0.464473%. Thus it can be concluded that Vector Autoregressive (VAR) method is more effective to be used in case study of export amount in DIY forecasting. Keywords: Koyck; Almon; Lag; Autoregressive Distributed-Lag; Vector Autoregressive;

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New time delay estimation-based virtual decomposition control for n-DoF robot manipulator

IAES International Journal of Robotics and Automation (IJRA) ◽

10.11591/ijra.v10i3.pp192-206 ◽

2021 ◽

Vol 10 (3) ◽

pp. 192

Author(s):

Hachmia Faqihi ◽

Khalid Benjelloun ◽

Maarouf Saad ◽

Mohammed Benbrahim ◽

M. Nabil Kabbaj

Keyword(s):

Time Delay ◽

Dynamic Model ◽

Control Strategy ◽

Robot Manipulator ◽

Time Delay Estimation ◽

Lyapunov Theory ◽

Degree Of Freedom ◽

Delay Estimation ◽

The Stability

<p>One of the most efficient approaches to control a multiple degree-of-freedom robot manipulator is the virtual decomposition control (VDC). However, the use of the re- gressor technique in the conventionnal VDC to estimate the unknown and uncertaities parameters present some limitations. In this paper, a new control strategy of n-DoF robot manipulator, refering to reorganizing the equation of the VDC using the time delay estimation (TDE) have been investigated. In the proposed controller, the VDC equations are rearranged using the TDE for unknown dynamic estimations. Hence, the decoupling dynamic model for the manipulator is established. The stability of the overall system is proved based on Lyapunov theory. The effectiveness of the proposed controller is proved via case study performed on 7-DoF robot manipulator and com- pared to the conventionnal Regressor-based VDC according to some evalution criteria. The results carry out the validity and efficiency of the proposed time delay estimation- based virtual decomposition controller (TD-VDC) approach.</p>

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Design and Analysis of a Tendon-Driven, Under-Actuated Robotic Hand

Volume 5A: 38th Mechanisms and Robotics Conference ◽

10.1115/detc2014-35069 ◽

2014 ◽

Cited By ~ 2

Author(s):

Raymond Guo ◽

Vienny Nguyen ◽

Lei Niu ◽

Lyndon Bridgwater

Keyword(s):

Design Parameters ◽

Robotic Hand ◽

Robotic Hands ◽

Mechanical Adaptation ◽

Lagrange Formulation ◽

Hand Grasp ◽

Design Case ◽

Design Case Study ◽

General Dynamic

There has been continuous research and development to add more actuators into robotic hands to increase their dexterity. However, dexterous hands require complex control and are more costly to build. Therefore, many researchers and commercial enterprises have begun developing under-actuated robotic hands with fewer actuators and passive mechanical adaptation to not only reduce complexity and cost, but to also achieve better grasp performance in unstructured settings. This paper presents the design and analysis of the Valkyrie hand — a four fingered, tendon-driven, and under-actuated robotic hand that balances dexterity and simplicity with total 14 joints, and six degrees of actuated freedom. A derivation is provided of general dynamic and static equations for the analysis of a tendon driven mechanism, based on Euler-Lagrange formulation. The equations were used to evaluate the design parameters’ impact on the hand grasp shape and closing effort, and also validated against a design case study.

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Modeling and Grasp Stability Analysis for Object Manipulation by Soft Rolling Fingertips

International Journal of Humanoid Robotics ◽

10.1142/s0219843614500200 ◽

2014 ◽

Vol 11 (03) ◽

pp. 1450020 ◽

Cited By ~ 2

Author(s):

John Fasoulas ◽

Michael Sfakiotakis

Keyword(s):

Stability Analysis ◽

Dynamic Model ◽

Object Manipulation ◽

Kinematics And Dynamics ◽

Control Law ◽

Two Dimensional ◽

Orientation Control ◽

Grasp Stability ◽

Different Types ◽

General Dynamic

This paper presents a general dynamic model that describes the two-dimensional grasp by two robotic fingers with soft fingertips. We derive the system's kinematics and dynamics by incorporating rolling constraints that depend on the deformation and on the rolling distance characteristics of the fingertips' material. We analyze the grasp stability at equilibrium, and conclude that the rolling properties of the fingertips can play an important role in grasp stability, especially when the width of the grasped object is small compared to the radius of the tips. Subsequently, a controller, which is based on the fingertips' rolling properties, is proposed for stable grasping concurrent with object orientation control. We evaluate the dynamic model under the proposed control law by simulations and experiments that make use of two different types of soft fingertip materials, through which it is confirmed that the dynamic model can successfully capture the effect of the fingertips' deformation and their rolling distance characteristics. Finally, we use the dynamic model to demonstrate by simulations the significance of the fingertips' rolling properties in grasping thin objects.

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