Adaptive measuring system with dynamic error estimation of the first-order sensor

2022 ◽  
pp. 441-450
Author(s):  
A. S. Volosnikov
Keyword(s):  
Error Estimation ◽  
Dynamic Error ◽  
Measuring System ◽  
First Order

Design optimization of a cable-based parallel tracking system by using evolutionary algorithms

Robotica ◽  
2014 ◽  
Vol 33 (3) ◽  
pp. 599-610 ◽  
Author(s):  
Eusebio E. Hernandez ◽  
S.-I. Valdez ◽  
M. Ceccarelli ◽  
A. Hernandez ◽  
S. Botello
Keyword(s):  
Error Estimation ◽  
Optimization Design ◽  
Optimization Problem ◽  
Tracking System ◽  
Optimization Techniques ◽  
Measuring System ◽  
Optimal Solutions ◽  
Structural Configuration ◽  
Estimation Of Distribution ◽  
Optimization Methodology

SUMMARYIn this paper, an optimization design of a 6 DOF parallel measuring system is analyzed. First, a closed form direct kinematics formulation based on Cayley–Menger determinants is considered in the objective function, in order to measure the manipulator singularities, then an estimation of distribution algorithm is proposed to solve the optimization problem. It is shown that the evolutionary algorithm can find close to optimal solutions for minimum pose error estimation. Additionally, these global optimizers significantly reduce the computational burden in comparison with exhaustive search and other global optimization techniques. The sensitivity of the pose error estimation in the prescribed robots' workspace is analyzed and used to guide a designer in choosing the best structural configuration. Numerical examples are discussed to show the feasibility of the proposed optimization methodology.

scholarly journals Discretization of singular systems and error estimation

2014 ◽  
Vol 24 (1) ◽  
pp. 65-73 ◽  
Author(s):  
Nicholas P. Karampetakis ◽  
Rallis Karamichalis
Keyword(s):  
Error Estimation ◽  
Discrete Time ◽  
Singular Systems ◽  
Input Function ◽  
Upper Bounds ◽  
Zero Order ◽  
Discretization Methods ◽  
First Order ◽  
Discretization Technique ◽  
Better Than

Abstract This paper proposes a discretization technique for a descriptor differential system. The methodology used is both triangular first order hold discretization and zero order hold for the input function. Upper bounds for the error between the continuous and the discrete time solution are produced for both discretization methods and are shown to be better than any other existing method in the literature.

scholarly journals A Model of the Dynamic Error as a Measurement Result of Instruments Defining the Parameters of Moving Objects

2014 ◽  
Vol 14 (4) ◽  
pp. 183-189 ◽  
Author(s):  
D. Dichev ◽  
H. Koev ◽  
T. Bakalova ◽  
P. Louda
Keyword(s):  
Moving Objects ◽  
Block Diagram ◽  
Dynamic Error ◽  
Measuring System ◽  
Measuring Instruments ◽  
Dynamic Mode ◽  
Wide Range ◽  
Inertial Component ◽  
Analysis And Synthesis ◽  
Movement Parameters

Abstract The present paper considers a new model for the formation of the dynamic error inertial component. It is very effective in the analysis and synthesis of measuring instruments positioned on moving objects and measuring their movement parameters. The block diagram developed within this paper is used as a basis for defining the mathematical model. The block diagram is based on the set-theoretic description of the measuring system, its input and output quantities and the process of dynamic error formation. The model reflects the specific nature of the formation of the dynamic error inertial component. In addition, the model submits to the logical interrelation and sequence of the physical processes that form it. The effectiveness, usefulness and advantages of the model proposed are rooted in the wide range of possibilities it provides in relation to the analysis and synthesis of those measuring instruments, the formulation of algorithms and optimization criteria, as well as the development of new intelligent measuring systems with improved accuracy characteristics in dynamic mode.

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