Design and control of cooperative ball juggling DELTA robots without visual guidance

Robotica ◽  
2015 ◽  
Vol 35 (2) ◽  
pp. 384-400 ◽  
Author(s):  
Zeeshan Shareef ◽  
Viktor Just ◽  
Heinrich Teichrieb ◽  
Ansgar Trächtler
Keyword(s):  
Visual System ◽  
Simulation Study ◽  
Autonomous Robots ◽  
Vital Role ◽  
Control Loop ◽  
Visual Guidance ◽  
Computationally Expensive ◽  
The Stability ◽  
And Control

SUMMARYCooperative ball juggling is one of the most difficult tasks when performed through autonomous robots. States of the ball (position and velocity) play a vital role for the stability and duration of a long rally. Cameras are normally used in ball juggling to calculate these parameters, the use of which is not only computationally expensive but also requires a lot of hardware to determine. In this paper, we propose a control loop for cooperative ball juggling using parallel DELTA robots without visual guidance. In contrast to using a visual system for ball states feedback, an observer based on the reflection laws is designed to calculate the continuous position and velocity of the ball during juggling. Besides the conventional controller blocks, the proposed control loop consists of the ball prediction and the plate striking movement generation blocks. Two controllers are designed for the stability and tracking of variable reference height of the ball during juggling: One controller calculates the velocity of the striking plate to achieve the reference height of the ball during juggling and the second controls the actuator angles. A simulation study and hardware experiments show applicability of the designed observer and validation of the proposed control loop.

scholarly journals Nonlinear Model Predictive Controller and Feasible Path Planning for Autonomous Robots

2016 ◽  
Vol 6 (1) ◽  
pp. 178-186
Author(s):  
Vu Trieu Minh
Keyword(s):  
Predictive Control ◽  
Nonlinear Model ◽  
Autonomous Robots ◽  
Open Loop ◽  
Tracking Errors ◽  
Physical Constraints ◽  
Predictive Controller ◽  
Feasible Path ◽  
The Stability ◽  
And Control

AbstractThis paper develops the nonlinear model predictive control (NMPC) algorithm to control autonomous robots tracking feasible paths generated directly from the nonlinear dynamic equations.NMPC algorithm can secure the stability of this dynamic system by imposing additional conditions on the open loop NMPC regulator. The NMPC algorithm maintains a terminal constrained region to the origin and thus, guarantees the stability of the nonlinear system. Simulations show that the NMPC algorithm can minimize the path tracking errors and control the autonomous robots tracking exactly on the feasible paths subject to the system’s physical constraints.

The Applied Research of Decoupling Control Algorithm in Gas Mixing Process

2013 ◽  
Vol 634-638 ◽  
pp. 3994-3997
Author(s):  
Zhong Liang Shao
Keyword(s):  
Calorific Value ◽  
Pressure Control ◽  
Decoupling Control ◽  
Control Loop ◽  
Real Time Control ◽  
Mixed Gas ◽  
Expert Control ◽  
Time Control ◽  
The Stability ◽  
And Control

It is difficult to get satisfied effects using conventional instruments to control the caloric value of the mixed-gas. A hybrid intelligent control strategy is presented in this paper in order to solve the coupling problem that exists between the calorific value control and pressure control. This strategy partitions the whole control system into gas–pressurized machine’s post pressure control loop and control loop of pressure decoupling .In the former decoupling control loop, in order to realize the stability of the calorific value and restrain the fluctuation of the mixing pressure, a decoupling controller is designed by combining the fuzzy control and the expert control. The result of real-time control showed the method obviously enhanced the control accuracy and reduced the undulation of pressure and calorific value and fulfilled the request of customer.

scholarly journals Data-Driven Stability Assessment of Multilayer Long Short-Term Memory Networks

2021 ◽  
Vol 11 (4) ◽  
pp. 1829
Author(s):  
Davide Grande ◽  
Catherine A. Harris ◽  
Giles Thomas ◽  
Enrico Anderlini
Keyword(s):  
Neural Network ◽  
Network Architecture ◽  
Short Term Memory ◽  
Moving Average ◽  
Machine Learning Algorithms ◽  
Physical Models ◽  
Data Driven ◽  
The Stability ◽  
And Control ◽  
Nonlinear Autoregressive

Recurrent Neural Networks (RNNs) are increasingly being used for model identification, forecasting and control. When identifying physical models with unknown mathematical knowledge of the system, Nonlinear AutoRegressive models with eXogenous inputs (NARX) or Nonlinear AutoRegressive Moving-Average models with eXogenous inputs (NARMAX) methods are typically used. In the context of data-driven control, machine learning algorithms are proven to have comparable performances to advanced control techniques, but lack the properties of the traditional stability theory. This paper illustrates a method to prove a posteriori the stability of a generic neural network, showing its application to the state-of-the-art RNN architecture. The presented method relies on identifying the poles associated with the network designed starting from the input/output data. Providing a framework to guarantee the stability of any neural network architecture combined with the generalisability properties and applicability to different fields can significantly broaden their use in dynamic systems modelling and control.

Cyclopean Vision, Size Estimation, and Presence in Orthostereoscopic Images

2001 ◽  
Vol 10 (3) ◽  
pp. 312-330 ◽  
Author(s):  
Bernard Harper ◽  
Richard Latto
Keyword(s):  
Visual System ◽  
Three Dimensional ◽  
Point Of View ◽  
Psychophysical Experiment ◽  
Size Estimation ◽  
Human Form ◽  
Image Capture ◽  
Series Of Experiments ◽  
Abstract Shapes ◽  
And Control

Stereo scene capture and generation is an important facet of presence research in that stereoscopic images have been linked to naturalness as a component of reported presence. Three-dimensional images can be captured and presented in many ways, but it is rare that the most simple and “natural” method is used: full orthostereoscopic image capture and projection. This technique mimics as closely as possible the geometry of the human visual system and uses convergent axis stereography with the cameras separated by the human interocular distance. It simulates human viewing angles, magnification, and convergences so that the point of zero disparity in the captured scene is reproduced without disparity in the display. In a series of experiments, we have used this technique to investigate body image distortion in photographic images. Three psychophysical experiments compared size, weight, or shape estimations (perceived waist-hip ratio) in 2-D and 3-D images for the human form and real or virtual abstract shapes. In all cases, there was a relative slimming effect of binocular disparity. A well-known photographic distortion is the perspective flattening effect of telephoto lenses. A fourth psychophysical experiment using photographic portraits taken at different distances found a fattening effect with telephoto lenses and a slimming effect with wide-angle lenses. We conclude that, where possible, photographic inputs to the visual system should allow it to generate the cyclopean point of view by which we normally see the world. This is best achieved by viewing images made with full orthostereoscopic capture and display geometry. The technique can result in more-accurate estimations of object shape or size and control of ocular suppression. These are assets that have particular utility in the generation of realistic virtual environments.

scholarly journals Delayed Trilateral Teleoperation of a Mobile Robot

2017 ◽  
Vol 2017 ◽  
pp. 1-12 ◽  
Author(s):  
D. Santiago ◽  
E. Slawiñski ◽  
V. Mut
Keyword(s):  
Stability Analysis ◽  
Mobile Robot ◽  
Shared Environment ◽  
Time Varying ◽  
Control Parameters ◽  
Simple Test ◽  
Control Loop ◽  
Teleoperation System ◽  
Human Operators ◽  
The Stability

This paper analyzes the stability of a trilateral teleoperation system of a mobile robot. This type of system is nonlinear, time-varying, and delayed and includes a master-slave kinematic dissimilarity. To close the control loop, three P+d controllers are used under a position master/slave velocity strategy. The stability analysis is based on Lyapunov-Krasovskii theory where a functional is proposed and analyzed to get conditions for the control parameters that assure a stable behavior, keeping the synchronism errors bounded. Finally, the theoretical result is verified in practice by means of a simple test, where two human operators both collaboratively and simultaneously drive a 3D simulator of a mobile robot to achieve an established task on a remote shared environment.

The Application of the Amorphous Metal Transformers in Heavy Oil Electric Heating System

2014 ◽  
Vol 532 ◽  
pp. 191-195 ◽  
Author(s):  
Bao Jiang Sun ◽  
Lei Su ◽  
Chao Zhang
Keyword(s):  
Electric Heating ◽  
Heating System ◽  
Intermediate Frequency ◽  
Amorphous Metal ◽  
Technical Performance ◽  
Alloy Material ◽  
Working Principle ◽  
The Stability ◽  
And Control ◽  
Fast Rise

In order to solve the problem that the big loss of no-load and the fast rise of temperature when employ the conventional silicon steel metal transformer (SSMT) in the electric heating system, we choose the amorphous metal transformer (AMMT). In this paper, firstly, we give a brief introduction of the amorphous alloy material properties and compare the no-load characteristic of the AMMT with the SSMT. Secondly, the structure of intermediate frequency heating system working principle and control strategy are introduced. Finally, extensive experiments were conducted to validate the ideas. The experiments show that the AMMT not only improve the efficiency of transformer, solve the heating problem of transformer, but also improve the stability, security and other technical performance of the system, so it is worth recommending and promoting.

THE ROLE OF ACCOUNTING AND CONTROL IN THE MANAGEMENT OF ECONOMIC SECURITY OF AN ORGANIZATION

2021 ◽  
Vol 7 (2) ◽  
pp. 165-178
Author(s):  
Nicolay T. Labyntsev ◽  
Lyubov F. SHILOVA ◽  
Ocsana V. Chukhrova
Keyword(s):  
Economic Security ◽  
Accounting Profession ◽  
Economic Management ◽  
Economic Interests ◽  
Doing Business ◽  
The Subject ◽  
The Stability ◽  
High Level ◽  
And Control

This article revises the mission and the name of the accounting profession in the context of strengthening the economic security of enterprises under the conditions of digitalization of the economy. The authors note that in the contemporary conditions of economic management, enterprises should form and ensure the functioning of the economic security of the enterprise at the proper level. The necessity of in-depth research of economic security at microlevel was considered, the factors influencing the stability of the enterprise were highlighted. High level of economic security of the subject of management consists in guaranteeing him maximum effective and stable functioning now and in future. Subjects of economic security were individual enterprises, and objects — their economic interests. The main goals of ensuring economic security of the enterprise in the part of accounting were singled out, the tasks of accounting policy, aimed at ensuring economic security, were determined. The prospects of the accounting profession in the process of ensuring economic security and reliable safe presentation of the results of doing business in reporting are substantiated. The study contains proposals on the revision of requirements for the qualifications of accountants in order to emphasize their activities aimed at strengthening the economic security of the enterprise.

Protein synthesis is required for rapid degradation of tubulin mRNA and other deflagellation-induced RNAs in Chlamydomonas reinhardi

1986 ◽  
Vol 6 (1) ◽  
pp. 54-61
Author(s):  
E J Baker ◽  
L R Keller ◽  
J A Schloss ◽  
J L Rosenbaum
Keyword(s):  
Protein Synthesis ◽  
Transcriptional Control ◽  
Protein S ◽  
Protein Synthesis Inhibitors ◽  
Control Factors ◽  
Flagellar Proteins ◽  
The Stability ◽  
And Control

After flagellar detachment in Chlamydomonas reinhardi, there is a rapid synthesis and accumulation of mRNAs for tubulin and other flagellar proteins. Maximum levels of these mRNAs (flagellar RNAs) are reached within 1 h after deflagellation, after which they are rapidly degraded to their predeflagellation levels. The degradation of alpha- and beta-tubulin RNAs was shown to be due to the shortening of their half-lives after accumulation (Baker et al., J. Cell Biol. 99:2074-2081, 1984). Deflagellation in the presence of protein synthesis inhibitors results in the accumulation of tubulin and other flagellar mRNAs by kinetics similar to those of controls. However, unlike controls, in which the accumulated mRNAs are rapidly degraded, these mRNAs are stabilized in cycloheximide. The stabilization by cycloheximide is specific for the flagellar mRNAs accumulated after deflagellation, since there is no change in the levels of flagellar mRNAs in nondeflagellated (uninduced) cells in the presence of cycloheximide. The kinetics of flagellar mRNA synthesis after deflagellation are shown to be the same in cycloheximide-treated and control cells by in vivo labeling and in vitro nuclear runoff experiments. These results show that protein synthesis is not required for the induced synthesis of flagellar mRNAs, and that all necessary transcriptional control factors are present in the cell before deflagellation, but that protein synthesis is required for the accelerated degradation of the accumulated flagellar mRNAs. Since cycloheximide prevents the induced synthesis and accumulation of flagellar proteins, it is possible that the product(s) of protein synthesis required for the accelerated decay of these mRNAs is a flagellar protein(s). The possibility that one or more flagellar proteins autoregulate the stability of the flagellar mRNAs is discussed.

Three-dimensional adaptive fixed-time guidance law against maneuvering targets with impact angle constraints and control input saturation

2021 ◽  
pp. 014233122110598
Author(s):  
Fei Ma ◽  
Yunjie Wu ◽  
Siqi Wang ◽  
Xiaofei Yang ◽  
Yueyang Hua
Keyword(s):  
Sliding Mode ◽  
Input Saturation ◽  
Three Dimensional ◽  
Fixed Time ◽  
Impact Angle ◽  
Guidance System ◽  
Control Input ◽  
Guidance Law ◽  
The Stability ◽  
And Control

This paper presents an adaptive fixed-time guidance law for the three-dimensional interception guidance problem with impact angle constraints and control input saturation against a maneuvering target. First, a coupled guidance model formulated by the relative motion equation is established. On this basis, a fixed-time disturbance observer is employed to estimate the lumped disturbances. With the help of this estimation technique, the adaptive fixed-time sliding mode guidance law is designed to accomplish accurate interception. The stability of the closed-loop guidance system is proven by the Lyapunov method. Simulation results of different scenarios are executed to validate the effectiveness and superiority of the proposed guidance law.

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