scholarly journals Dynamic Scaling of Manipulator Trajectories

1984 ◽  
Vol 106 (1) ◽  
pp. 102-106 ◽  
Author(s):  
J. M. Hollerbach
Keyword(s):  
Movement Speed ◽  
Dynamic Scaling ◽  
Manipulator Dynamics ◽  
Scaling Property ◽  
Time Scaling

A fundamental time-scaling property of manipulator dynamics has been identified that allows modification of movement speed without complete dynamics recalculation. By exploiting this property, it can be determined whether a planned trajectory is dynamically realizable given actuator torque limits, and if not, how to modify the trajectory to bring it within dynamic and actuating constraints.

Geometric Interpretation of Discrete Fractional Order Controllers Based on Sampling Time Scaling Property and Experimental Verification of Fractional 1/Sα Systems’ Robustness

2003 ◽  
Author(s):  
Chengbin Ma ◽  
Yoichi Hori
Keyword(s):  
Control Systems ◽  
Fractional Order ◽  
Experimental Verification ◽  
Geometric Interpretation ◽  
Sampling Time ◽  
Fractional Order Control ◽  
Satisfactory Accuracy ◽  
Scaling Property ◽  
Time Scaling ◽  
Fractional Order Integral

This article proposes a geometric interpretation of discrete fractional order controllers based on sampling time scaling property. Due to its clear interpretation, satisfactory accuracy and easy programming, the property could be used as a reliable simulation and realization method for fractional order control systems. The experiments of one-inertia speed control with fractional order integral controllers realized by the proposed sampling time property are also carried out to verify the theoretical robustness of fractional 1/sα systems. The experimental results show the superior robustness performances of fractional 1/sα systems against saturation non-linearity and inertia variation, which highlights the promising aspects of fractional order control.

Frequency-size distribution and time-scaling property of high-casualty fires in China: Analysis and comparison

2013 ◽  
Vol 51 (1) ◽  
pp. 209-216 ◽  
Author(s):  
Song Lu ◽  
Canjun Liang ◽  
Weiguo Song ◽  
Heping Zhang
Keyword(s):  
Size Distribution ◽  
Scaling Property ◽  
Time Scaling

Scaling property of flux fluctuations from random walks

2007 ◽  
Vol 76 (5) ◽  
Author(s):  
Sooyeon Yoon ◽  
Soon-Hyung Yook ◽  
Yup Kim
Keyword(s):  
Random Walks ◽  
Scaling Property

scholarly journals Processes controlling the initial mass function: interstellar turbulence and magnetic fields

1991 ◽  
Vol 147 ◽  
pp. 407-408
Author(s):  
R. C. Fleck
Keyword(s):  
Magnetic Fields ◽  
Mass Function ◽  
Diffusion Time ◽  
Interstellar Cloud ◽  
Initial Mass Function ◽  
Mass Scaling ◽  
Interstellar Turbulence ◽  
Time Scaling ◽  
Turbulent Pressure ◽  
Low Mass

The observed flattening of the initial stellar mass function at low mass can be accounted for in terms of the different interstellar cloud size-mass scaling and different ambipolar diffusion time scaling for small, thermally-supported clouds and larger clouds supported primarily by turbulent pressure.

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