FPGA-Based Velocity Estimation for Control of Robots with Low-Resolution Encoders

Author(s):  
Jie Ying Wu ◽  
Zihan Chen ◽  
Anton Deguet ◽  
Peter Kazanzides
Author(s):  
Hongzhong Zhu ◽  
Toshiharu Sugie

This paper proposes a new approach to estimate the velocity of mechanical system in the case where the optical incremental encoder is used as the position sensor. First, the actual angular position is reconstructed via moving horizon polynomial fitting method by taking account of quantization feature and the plant dynamics. Then, the reconstruction signal is applied to a classical observer to obtain the velocity estimation. Its robustness against the position sensor resolution and the degree of the polynomial is discussed by some numerical examples. Experiments with very low-resolution encoder in low speed range also confirm its effectiveness.


2019 ◽  
Vol 25 (2) ◽  
pp. 256-279 ◽  
Author(s):  
Amy Dawel ◽  
Tsz Ying Wong ◽  
Jodie McMorrow ◽  
Callin Ivanovici ◽  
Xuming He ◽  
...  

2009 ◽  
Vol 40 (01) ◽  
Author(s):  
D Keeser ◽  
L Tiemann ◽  
M Valet ◽  
E Schulz ◽  
M Ploner ◽  
...  

Author(s):  
Andrea CAPRA ◽  
Ana BERGER ◽  
Daniela SZABLUK ◽  
Manuela OLIVEIRA

An accurate understanding of users' needs is essential for the development of innovative products. This article presents an exploratory method of user centered research in the context of the design process of technological products, conceived from the demands of a large information technology company. The method is oriented - but not restricted - to the initial stages of the product development process, and uses low-resolution prototypes and simulations of interactions, allowing users to imagine themselves in a future context through fictitious environments and scenarios in the ambit of ideation. The method is effective in identifying the requirements of the experience related to the product’s usage and allows rapid iteration on existing assumptions and greater exploration of design concepts that emerge throughout the investigation.


Author(s):  
Fan Hai-fu ◽  
Hao Quan ◽  
M. M. Woolfson

AbstractConventional direct methods, which work so well for small structures, are less successful for macromolecules. Where it has been demonstrated that a solution might be found using direct methods it is then found that the usual figures of merit are unable to distinguish the few good sets of phases from the large number of sets generated. The reasons for the difficulties with very large structures are considered from a first-principles approach taking into account both the factors of having a large number of atoms and low resolution data. A proposal is made for trying to recognize good phase sets by taking a large structure as a sum of a number of smaller structures for each of which a conventional figure of merit can be applied.


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