Model-Based On-line Estimation of Time-Varying Nonlinear Joint Stiffness on an e-Series Universal Robots Manipulator

2019 ◽  
Author(s):  
Emil Madsen ◽  
Oluf Skov Rosenlund ◽  
David Brandt ◽  
Xuping Zhang
Keyword(s):  
Joint Stiffness ◽  
Time Varying ◽  
Model Based ◽  
On Line ◽  
Nonlinear Joint ◽  
Estimation Of Time

A Modified Dugoff Tire Model for Combined-slip Forces

2010 ◽  
Vol 38 (3) ◽  
pp. 228-244 ◽  
Author(s):  
Nenggen Ding ◽  
Saied Taheri
Keyword(s):  
Vehicle Dynamics ◽  
Tire Model ◽  
Magic Formula ◽  
Model Based ◽  
Proposed Model ◽  
Road Friction ◽  
On Line ◽  
Double Lane Change ◽  
Tire Forces ◽  
Tire Models

Abstract Easy-to-use tire models for vehicle dynamics have been persistently studied for such applications as control design and model-based on-line estimation. This paper proposes a modified combined-slip tire model based on Dugoff tire. The proposed model takes emphasis on less time consumption for calculation and uses a minimum set of parameters to express tire forces. Modification of Dugoff tire model is made on two aspects: one is taking different tire/road friction coefficients for different magnitudes of slip and the other is employing the concept of friction ellipse. The proposed model is evaluated by comparison with the LuGre tire model. Although there are some discrepancies between the two models, the proposed combined-slip model is generally acceptable due to its simplicity and easiness to use. Extracting parameters from the coefficients of a Magic Formula tire model based on measured tire data, the proposed model is further evaluated by conducting a double lane change maneuver, and simulation results show that the trajectory using the proposed tire model is closer to that using the Magic Formula tire model than Dugoff tire model.

Components of a model-based operation system for wastewater treatment plants

1999 ◽  
Vol 39 (4) ◽  
pp. 103-111 ◽  
Author(s):  
Frank Obenaus ◽  
Karl-Heinz Rosenwinkel ◽  
Jens Alex ◽  
Ralf Tschepetzki ◽  
Ulrich Jumar
Keyword(s):  
Wastewater Treatment ◽  
Wastewater Treatment Plants ◽  
Operation System ◽  
Model Based ◽  
Measuring Devices ◽  
Crucial Component ◽  
Simulation Calculation ◽  
On Line ◽  
Main Components

This report presents the main components of a system for the model-based control of aerobic biological wastewater treatment plants. The crucial component is a model which is linked to the actual processes via several interfaces and which contains a unit which can immediately follow up the current process state. The simulation calculation of the model is based on data which are yielded by on-line measuring devices. If the sensors should fail at times, there are available a number of alternative concepts, some of which are based on the calculations of artificial neural networks or linear methods.

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