A Simulation Framework for Robotic System Design

2007 ◽  
Author(s):  
David Wilkie ◽  
Richard Primerano ◽  
William Regli
Keyword(s):  
Robotic System ◽  
Robotic Systems ◽  
Assembly Model ◽  
Simulation Framework ◽  
Biologically Inspired ◽  
Software Packages ◽  
Physically Based ◽  
System Designs ◽  
Biologically Inspired Robot

This paper proposes a framework for the physically based modeling of robotic systems. The framework focuses on integrating a mechanical engineering assembly model with an electrical engineering controller model in a co-simulation. The simulated results can be used for the evaluation of robotic system designs. This paper surveys existing algorithms and software packages that could be used to implement the framework. The framework is illustrated using a biologically inspired robot as a case-study.

scholarly journals Multi-Criteria, Co-Evolutionary Charging Behavior: An Agent-Based Simulation of Urban Electromobility

2021 ◽  
Vol 12 (1) ◽  
pp. 18
Author(s):  
Lennart Adenaw ◽  
Markus Lienkamp
Keyword(s):  
Urban Areas ◽  
City Planning ◽  
User Behavior ◽  
Transport Sector ◽  
Simulation Framework ◽  
Agent Based Simulation ◽  
Agent Based ◽  
Charging Station ◽  
Spatio Temporal

In order to electrify the transport sector, scores of charging stations are needed to incentivize people to buy electric vehicles. In urban areas with a high charging demand and little space, decision-makers are in need of planning tools that enable them to efficiently allocate financial and organizational resources to the promotion of electromobility. As with many other city planning tasks, simulations foster successful decision-making. This article presents a novel agent-based simulation framework for urban electromobility aimed at the analysis of charging station utilization and user behavior. The approach presented here employs a novel co-evolutionary learning model for adaptive charging behavior. The simulation framework is tested and verified by means of a case study conducted in the city of Munich. The case study shows that the presented approach realistically reproduces charging behavior and spatio-temporal charger utilization.

Development of an autonomous robotic system for beard shaving assistance of disabled people based on an adaptive force tracking impedance control

2021 ◽  
pp. 095440622098482
Author(s):  
Oladayo S Ajani ◽  
Samy FM Assal
Keyword(s):  
Impedance Control ◽  
Environmental Parameters ◽  
Robotic System ◽  
Robotic Systems ◽  
Full Potential ◽  
Robotic Assistance ◽  
Head Pose ◽  
Detection And Tracking ◽  
Control Scheme ◽  
Force Tracking

Recently, people with upper arm disabilities due to neurological disorders, stroke or old age are receiving robotic assistance to perform several activities such as shaving, eating, brushing and drinking. Although the full potential of robotic assistance lies in the use of fully autonomous robotic systems, these systems are limited in design due to the complexities and the associated risks. Hence, rather than the shared controlled or active robotic systems used for such tasks around the head, an adaptive compliance control scheme-based autonomous robotic system for beard shaving assistance is proposed. The system includes an autonomous online face detection and tracking as well as selected geometrical features-based beard region estimation using the Kinect RGB-D camera. Online trajectory planning for achieving the shaving task is enabled; with the capability of online re-planning trajectories in case of unintended head pose movement and occlusion. Based on the dynamics of the UR-10 6-DOF manipulator using ADAMS and MATLAB, an adaptive force tracking impedance controller whose parameters are tuned using Genetic Algorithm (GA) with force/torque constraints is developed. This controller can regulate the contact force under head pose changing and varying shaving region stiffness by adjusting the target stiffness of the controller. Simulation results demonstrate the system capability to achieve beard shaving autonomously with varying environmental parameters that can be extended for achieving other tasks around the head such as feeding, drinking and brushing.

Complete Accessibility of Oscillations in Robotic Systems by Orthogonal Projections

1990 ◽  
Vol 112 (2) ◽  
pp. 194-202 ◽  
Author(s):  
Sabri Tosunoglu ◽  
Shyng-Her Lin ◽  
Delbert Tesar
Keyword(s):  
Current Practice ◽  
Industrial Robot ◽  
Robotic Systems ◽  
Orthogonal Projections ◽  
Small Oscillations ◽  
Robotic Arms ◽  
Driven System ◽  
System Equations ◽  
Six Degree Of Freedom

The current practice of controller development for flexible robotic systems generally focuses on one-link robotic arms and is valid for small oscillations. This work addresses the control of n-link, serial, spatial robotic systems modeled with m1 joint and m2 link flexibilities such that n≥m1+m2. System compliance is modeled by local springs and nonactuated prismatic and revolute type pseudo joints. The coupled, nonlinear, error-driven system equations are derived for the complete model without linearization or neglecting certain terms. For this system, the complete accessibility of vibrations is studied by orthogonal projections. It is shown that under some configurations of a robotic system, the induced oscillations may not be accessible to the controller. Given accessibility, the controller developed in this work assures the global asymptotic stability of the system. Example numerical simulations are presented based on the model of a six-degree-of-freedom Cincinnati Milacron T3-776 industrial robot. One example models the system compliance in four joints, while another case study simulates four lateral link oscillations. These examples show that this controller, even under inaccurate payload description, eliminates the oscillations while tracking desired trajectories.

scholarly journals StreamFlow 1.0: an extension to the spatially distributed snow model Alpine3D for hydrological modelling and deterministic stream temperature prediction

2016 ◽  
Vol 9 (12) ◽  
pp. 4491-4519 ◽  
Author(s):  
Aurélien Gallice ◽  
Mathias Bavay ◽  
Tristan Brauchli ◽  
Francesco Comola ◽  
Michael Lehning ◽  
...  
Keyword(s):  
Source Code ◽  
Stream Temperature ◽  
Object Oriented Programming ◽  
Temperature Prediction ◽  
Uncertainty Estimates ◽  
Physically Based ◽  
Snow Model ◽  
Alpine Catchments ◽  
Alpine Rivers

Abstract. Climate change is expected to strongly impact the hydrological and thermal regimes of Alpine rivers within the coming decades. In this context, the development of hydrological models accounting for the specific dynamics of Alpine catchments appears as one of the promising approaches to reduce our uncertainty of future mountain hydrology. This paper describes the improvements brought to StreamFlow, an existing model for hydrological and stream temperature prediction built as an external extension to the physically based snow model Alpine3D. StreamFlow's source code has been entirely written anew, taking advantage of object-oriented programming to significantly improve its structure and ease the implementation of future developments. The source code is now publicly available online, along with a complete documentation. A special emphasis has been put on modularity during the re-implementation of StreamFlow, so that many model aspects can be represented using different alternatives. For example, several options are now available to model the advection of water within the stream. This allows for an easy and fast comparison between different approaches and helps in defining more reliable uncertainty estimates of the model forecasts. In particular, a case study in a Swiss Alpine catchment reveals that the stream temperature predictions are particularly sensitive to the approach used to model the temperature of subsurface flow, a fact which has been poorly reported in the literature to date. Based on the case study, StreamFlow is shown to reproduce hourly mean discharge with a Nash–Sutcliffe efficiency (NSE) of 0.82 and hourly mean temperature with a NSE of 0.78.

Assembly Modeling for 3D Component Based on Polychromatic Sets

2011 ◽  
Vol 411 ◽  
pp. 388-392 ◽  
Author(s):  
Yun Long Li ◽  
Jian Min Gao ◽  
Lei Shi ◽  
Song Wang
Keyword(s):  
Information Matrix ◽  
Spatial Location ◽  
Assembly Sequence Planning ◽  
Assembly Model ◽  
Assembly Sequence ◽  
Assembly Modeling ◽  
Sequence Planning ◽  
Location Modeling ◽  
Dynamic Interference

In order to improve the efficiency of assembly modeling and provide a complete assembly model for assembly sequence planning (ASP), a method of assembly modeling based on polychromatic sets (PS) is proposed. Firstly, the assembly information of 3D Component is obtained by API function in SolidWorks. In addition, assembly incident matrix, information matrix and mapping matrix are built. On the basis of these matrixes, a method of location modeling is explored. The interference relation matrix is developed by judging the spatial location and analyzing dynamic interference relation among parts. Finally, a case study is given to verify the method.

scholarly journals Evaluating performances of simplified physically based models for landslide susceptibility

2015 ◽  
Vol 12 (12) ◽  
pp. 13217-13256 ◽  
Author(s):  
G. Formetta ◽  
G. Capparelli ◽  
P. Versace
Keyword(s):  
Landslide Susceptibility ◽  
Goodness Of Fit ◽  
Shallow Landslides ◽  
Model Parameters ◽  
Test Case ◽  
Susceptibility Analysis ◽  
Physically Based ◽  
Private And Public ◽  
Physically Based Models

Abstract. Rainfall induced shallow landslides cause loss of life and significant damages involving private and public properties, transportation system, etc. Prediction of shallow landslides susceptible locations is a complex task that involves many disciplines: hydrology, geotechnical science, geomorphology, and statistics. Usually to accomplish this task two main approaches are used: statistical or physically based model. Reliable models' applications involve: automatic parameters calibration, objective quantification of the quality of susceptibility maps, model sensitivity analysis. This paper presents a methodology to systemically and objectively calibrate, verify and compare different models and different models performances indicators in order to individuate and eventually select the models whose behaviors are more reliable for a certain case study. The procedure was implemented in package of models for landslide susceptibility analysis and integrated in the NewAge-JGrass hydrological model. The package includes three simplified physically based models for landslides susceptibility analysis (M1, M2, and M3) and a component for models verifications. It computes eight goodness of fit indices by comparing pixel-by-pixel model results and measurements data. Moreover, the package integration in NewAge-JGrass allows the use of other components such as geographic information system tools to manage inputs-output processes, and automatic calibration algorithms to estimate model parameters. The system was applied for a case study in Calabria (Italy) along the Salerno-Reggio Calabria highway, between Cosenza and Altilia municipality. The analysis provided that among all the optimized indices and all the three models, the optimization of the index distance to perfect classification in the receiver operating characteristic plane (D2PC) coupled with model M3 is the best modeling solution for our test case.

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