Maneuver Classification of a Moving Vehicle with Six Degrees of Freedom Using Logistic Regression Technique

2018 ◽  
Vol 9 (3) ◽  
pp. 207-217 ◽  
Author(s):  
Mehyar Al Mansour ◽  
Ibrahim Chouaib ◽  
Asef Jafar
Keyword(s):  
Logistic Regression ◽  
Degrees Of Freedom ◽  
Regression Technique ◽  
Moving Vehicle ◽  
Six Degrees Of Freedom

Control Laws synthesis of multi-arm cooperating robots with elastic interconnection at the contacts

Robotica ◽  
2000 ◽  
Vol 18 (2) ◽  
pp. 183-193 ◽  
Author(s):  
Milovan Zˇivanović ◽  
Miomir Vukobratović
Keyword(s):  
Theoretical Analysis ◽  
Degrees Of Freedom ◽  
Closed Loop ◽  
Cooperative System ◽  
Controlled System ◽  
Control Laws ◽  
Cooperative Manipulation ◽  
Six Degrees Of Freedom ◽  
Cooperating Robots

The problem of the control of the object cooperative manipulation during the work of multiple non-redundant six degrees-of-freedom manipulators is considered in this paper. The problem of the cooperative manipulation control is, like all its problems, solvable only if the system is considered as the elastic one, taking into account all existing constraints. The controlled system is with the output number greater than the available number of inputs, therefore, in the first stage the desired motions are selected from the set of the possible nominal ones, containing the trajectories of the manipulated object mass centre and slave manipulators contacts. Afterward, the classification of control tasks is performed. The procedure for the calculation of the driving torques introduced into the joints of the manipulators, necessary to obtain the nominal trajectory tracking, is proposed. The theoretical analysis of cooperative system closed loop behaviour is exposed, particular attention being paid to the uncontrolled variables. The procedure is illustrated on the example of the simple closed loop cooperative system, consisting of the manipulated object and two one degree-of-freedom manipulators. For this system, the behaviour is determined and the driving torques are calculated.

Control of processing at multi-tool two-support setup

2020 ◽  
pp. 67-73
Author(s):  
N.D. YUsubov ◽  
G.M. Abbasova
Keyword(s):  
Degrees Of Freedom ◽  
Factor Model ◽  
Angular Displacement ◽  
Factor Models ◽  
Technological System ◽  
Displacement Control ◽  
Model Accuracy ◽  
Six Degrees Of Freedom ◽  
Angular Displacements ◽  
And Control

The accuracy of two-tool machining on automatic lathes is analyzed. Full-factor models of distortions and scattering fields of the performed dimensions, taking into account the flexibility of the technological system on six degrees of freedom, i. e. angular displacements in the technological system, were used in the research. Possibilities of design and control of two-tool adjustment are considered. Keywords turning processing, cutting mode, two-tool setup, full-factor model, accuracy, angular displacement, control, calculation [email protected]

scholarly journals Design and Calibration of a Hall Effect System for Measurement of Six-Degree-of-Freedom Motion within a Stacked Column

Sensors ◽  
2021 ◽  
Vol 21 (11) ◽  
pp. 3740
Author(s):  
Olafur Oddbjornsson ◽  
Panos Kloukinas ◽  
Tansu Gokce ◽  
Kate Bourne ◽  
Tony Horseman ◽  
...  
Keyword(s):  
Hall Effect ◽  
Degrees Of Freedom ◽  
Reactor Core ◽  
Degree Of Freedom ◽  
Life Extension ◽  
Scale Model ◽  
Design Development ◽  
Seismic Safety ◽  
Six Degrees Of Freedom ◽  
Six Degree Of Freedom

This paper presents the design, development and evaluation of a unique non-contact instrumentation system that can accurately measure the interface displacement between two rigid components in six degrees of freedom. The system was developed to allow measurement of the relative displacements between interfaces within a stacked column of brick-like components, with an accuracy of 0.05 mm and 0.1 degrees. The columns comprised up to 14 components, with each component being a scale model of a graphite brick within an Advanced Gas-cooled Reactor core. A set of 585 of these columns makes up the Multi Layer Array, which was designed to investigate the response of the reactor core to seismic inputs, with excitation levels up to 1 g from 0 to 100 Hz. The nature of the application required a compact and robust design capable of accurately recording fully coupled motion in all six degrees of freedom during dynamic testing. The novel design implemented 12 Hall effect sensors with a calibration procedure based on system identification techniques. The measurement uncertainty was ±0.050 mm for displacement and ±0.052 degrees for rotation, and the system can tolerate loss of data from two sensors with the uncertainly increasing to only 0.061 mm in translation and 0.088 degrees in rotation. The system has been deployed in a research programme that has enabled EDF to present seismic safety cases to the Office for Nuclear Regulation, resulting in life extension approvals for several reactors. The measurement system developed could be readily applied to other situations where the imposed level of stress at the interface causes negligible material strain, and accurate non-contact six-degree-of-freedom interface measurement is required.

scholarly journals Human Hand Anatomy-Based Prosthetic Hand

Sensors ◽  
2020 ◽  
Vol 21 (1) ◽  
pp. 137
Author(s):  
Larisa Dunai ◽  
Martin Novak ◽  
Carmen García Espert
Keyword(s):  
3D Printing ◽  
Degrees Of Freedom ◽  
Use Of Force ◽  
Hand Movements ◽  
Human Hand ◽  
Prosthetic Hand ◽  
Object Surface ◽  
Hand Phalanges ◽  
High Level

The present paper describes the development of a prosthetic hand based on human hand anatomy. The hand phalanges are printed with 3D printing with Polylactic Acid material. One of the main contributions is the investigation on the prosthetic hand joins; the proposed design enables one to create personalized joins that provide the prosthetic hand a high level of movement by increasing the degrees of freedom of the fingers. Moreover, the driven wire tendons show a progressive grasping movement, being the friction of the tendons with the phalanges very low. Another important point is the use of force sensitive resistors (FSR) for simulating the hand touch pressure. These are used for the grasping stop simulating touch pressure of the fingers. Surface Electromyogram (EMG) sensors allow the user to control the prosthetic hand-grasping start. Their use may provide the prosthetic hand the possibility of the classification of the hand movements. The practical results included in the paper prove the importance of the soft joins for the object manipulation and to get adapted to the object surface. Finally, the force sensitive sensors allow the prosthesis to actuate more naturally by adding conditions and classifications to the Electromyogram sensor.

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