scholarly journals Optimization Control of Cooperative Trajectory towards Dual Arms Based on Time-Varying Constrained Output State

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-18
Author(s):  
Hui Zhang ◽  
Wenbin Zha ◽  
Xiangrong Xu ◽  
Yongfei Zhu
Keyword(s):  
Genetic Algorithm ◽  
Trajectory Optimization ◽  
Control Method ◽  
Time Varying ◽  
Pd Control ◽  
Output State ◽  
Optimization Control ◽  
The Individual ◽  
The Impact ◽  
Dual Arm

Aiming at the impact and disturbance of dual-arm robots in the process of coordinated transportation, a dual-arm cooperative trajectory optimization control based on time-varying constrained output state is proposed. According to the constraint relationship of the end-effector trajectory of the dual-arm coordinated transportation, the joint space trajectory mathematical model of the dual-arm coordinated transportation was established by using the master-slave construction method. Based on the time impact optimization index of joint trajectory, a multiobjective nonlinear equation is established. Using random probability distribution to extract the interpolation features of nonuniform quintic B-spline trajectory, the feature optimization target is selected, and the Newton numerical algorithm is used for iterative optimization. At the same time, it is combined with an elite retention genetic algorithm to further optimize the target. Based on the disturbance and tracking problem, a PD control method based on time-varying constrained output state is proposed, and the control law is designed. Its convergence is verified by establishing the Lyapunov function equation and asymmetric term. The trajectory optimization results show that the proposed trajectory optimization method can increase the individual diversity and enhance the individual local optimization, thus avoiding the premature impact of the elite retention genetic algorithm. Finally, the proposed control method is simulated on the platform of Gazebo; compared with the traditional PD control method, the results show that the proposed control algorithm has high robustness, and the rationality of the coordinated trajectory control method is verified by the double-arm handling experiment.

scholarly journals Impact motion control of a flexible dual-arm space robot for capturing a spinning object

2019 ◽  
Vol 16 (3) ◽  
pp. 172988141985753
Author(s):  
Xiali Li ◽  
Licheng Wu
Keyword(s):  
Motion Control ◽  
Control Method ◽  
Initial Conditions ◽  
Autonomous Vehicle ◽  
Stable State ◽  
Momentum Conservation ◽  
Space Robot ◽  
Dynamics Response ◽  
The Impact ◽  
Dual Arm

As an autonomous vehicle that moves on the space orbit, a space robot needs to be carefully treated on the motion planning and control method. In this article, the optimal impact and postimpact motion control of a flexible dual-arm space robot capturing a spinning object are considered. Firstly, the dynamic model of the robot systems is built by using Lagrangian formulation. The flexible links are modeled as Euler–Bernoulli beams of two bending modes. Through simulating the system’s postimpact dynamics response, the initial conditions are obtained from the impact model. Next, the initial velocities of base and joint are adjusted to minimize the velocity of the base after the capture according to generalized momentum conservation. After the capture, a proportional–derivative controller is designed to keep the robot system’s stabilization. The simulation results show that joint angles of base and manipulators reach stable state quickly, and motions of the space robots also induce vibrating motions of the flexible manipulators.

Research on Process of Impact and Control with Underwater Autonomous Weapon System

2011 ◽  
Vol 204-210 ◽  
pp. 862-865
Author(s):  
Peng Fei Peng ◽  
Zhong Liu ◽  
Jun Jiang
Keyword(s):  
Numerical Simulation ◽  
Process Model ◽  
Control Method ◽  
Weapon System ◽  
Impact Process ◽  
Concept Model ◽  
Optimization Control ◽  
And Control ◽  
The Impact

The basic composing and functions of underwater autonomous weapon system are analyzed in the paper. With researching on the process of action, the concept model of underwater autonomous weapon system is built up. The impact control method is deeply analyzed on the emphasis, and the model of impact process is put forward. The results of numerical simulation indicate that the impact process model and control method are effectual which can provide reliable theory for farther research on optimization control of system.

Gender Fluidity in the Age of Technologically Mediated Environments

2017 ◽  
pp. 22-61
Author(s):  
Mary-Kate Hickman ◽  
Wilson Ozuem ◽  
Jummy Okoya
Keyword(s):  
Complex System ◽  
Social Media ◽  
Future Research ◽  
Time Varying ◽  
Marketing Environment ◽  
Gender Fluidity ◽  
Social Media Platforms ◽  
The Individual ◽  
The Impact ◽  
Broad Complex

Gender is a concept that has evolved with time, varying its meaning and relevance regularly. Today, it manifests across many facets of life. Whilst theories of gender began as a device to categorise individuals and groups, these have evolved into a broad, complex system of identification to describe the uniqueness of the individual. Central to the discussion of gender is the question of how we can understand human conduct and experience in technologically laden marketing environments. Drawing on extant theories, the current chapter examines how the technologically mediated marketing environment (TMME) is increasingly challenging fashion and luxury marketers to reconsider their marketing communications strategies, particularly with the impact of evolving Internet technologies such as social media platforms. The concluding section offers further agenda for future research.

scholarly journals A new fault diagnosis and fault-tolerant control method for mechanical and aeronautical systems with neural estimators

2019 ◽  
Vol 11 (11) ◽  
pp. 168781401989165 ◽  
Author(s):  
Haiying Qi ◽  
Yiran Shi ◽  
Yantao Tian ◽  
Clifford Mayhew ◽  
Ding-Li Yu ◽  
...  
Keyword(s):  
Control Method ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Design Procedure ◽  
Fault Tolerant Control ◽  
System Stability ◽  
Time Varying ◽  
Neural Network Learning ◽  
Control Loops ◽  
The Impact

A new method of fault detection and fault-tolerant control is proposed in this article for mechanical systems and aeronautical systems. The faults to be estimated and diagnosed are malfunctions that occurred within the control loops of the systems, rather than some static faults, such as gearbox fault, component cracks, and so on. In the proposed method, two neural networks are used as online estimators, the fault will be accurately estimated when the estimators are adapted online with the post-fault dynamic information. Furthermore, the estimated values of faults are used to compensate for the impact of the faults, so that the stability and performance of the system with the faults are maintained until the faulty components to be repaired. The sliding mode control is used to maintain system stability under the post-fault dynamics. The control law and the neural network learning algorithms are derived using the Lyapunov method, so that the neural estimators are guaranteed to converge to the fault to be diagnosed, while the entire closed-loop system stability is guaranteed with all variables bounded. The main contribution of this article to the knowledge in this field is that the proposed method can not only diagnose and tolerant with constant fault but also diagnose and tolerant with the time-varying faults. This is very important because most faults occurred in industrial systems are time varying in nature. A simulation example is used to demonstrate the design procedure and the effectiveness of the method. The simulation results are compared with the two existing methods that can cope with constant faults only, and the superiority is demonstrated.

scholarly journals Optimization of Costs and Production Process of Fire Dampers

2021 ◽  
Vol 12 (1) ◽  
pp. 75
Author(s):  
Jaroslava Kádárová ◽  
Michaela Kočišová ◽  
Katarína Teplická ◽  
Alžbeta Suhányiová ◽  
Laura Lachvajderová
Keyword(s):  
Production Process ◽  
Production Line ◽  
Production Management ◽  
Control Method ◽  
Cost Optimization ◽  
Cost Savings ◽  
Industrial Engineering ◽  
Shop Floor ◽  
The Individual ◽  
The Impact

Currently, companies are trying to optimize production, even more so as the economic situation is gradually deteriorating in many countries around the world, which is currently caused mainly by the COVID 19 pandemic. A specific type of production is that on production lines, which are individual workplaces where various production and assembly operations take place. The aim of the article is to analyze the impact of the choice of the control method for the production process on the optimization of costs and the process. The subject of the research is the production of fire-fighting throttles on a production line that has three workplaces. The problem of waste on the production line was identified by direct measurements of time consumption at the individual workplaces and by using images of the working day schedule. The article compares three approaches to production line management and waste reduction. The first approach was based on counting the number of finished products on the production line. The second approach analyzed in detail the duration of the individual operations into which the workplaces were divided. In the third approach, a method of balancing workplaces was used, which brought time and cost savings. The achieved results, using different methods of production management, are analyzed in detail, and the conclusions evaluated. The article contributes a comparison of the achieved results of cost optimization through the course of production of fire dampers. The research results were applied in practice. The research used methods of industrial engineering in the field of ergonomics, technical and economic analysis, and production management. Visualization of hourly performances, downtimes and failures, execution of work procedures, Shop Floor Management and many others, are recommended as ways to implement waste elimination when using the methods of industrial engineering.

scholarly journals Quality Control of Accumulated Fields by Applying Spatial and Temporal Constraints

2013 ◽  
Vol 30 (4) ◽  
pp. 745-758 ◽  
Author(s):  
Valliappa Lakshmanan ◽  
Madison Miller ◽  
Travis Smith
Keyword(s):  
Quality Control ◽  
Control Method ◽  
Simulated Data ◽  
Control Technique ◽  
Multiple Hypothesis Tracking ◽  
Real World Datasets ◽  
The Individual ◽  
Quality Control Technique ◽  
Processing Techniques ◽  
The Impact

Abstract Accumulating gridded fields over time greatly magnifies the impact of impulse noise in the individual grids. A quality control method that takes advantage of spatial and temporal coherence can reduce the impact of such noise in accumulation grids. Such a method can be implemented using the image processing techniques of hysteresis and multiple hypothesis tracking (MHT). These steps are described in this paper, and the method is applied to simulated data to quantify the improvements and to explain the effect of various parameters. Finally, the quality control technique is applied to some illustrative real-world datasets.

Gender Fluidity in the Age of Technologically Mediated Environments

2018 ◽  
pp. 1967-2006
Author(s):  
Mary-Kate Hickman ◽  
Wilson Ozuem ◽  
Jummy Okoya
Keyword(s):  
Complex System ◽  
Social Media ◽  
Future Research ◽  
Time Varying ◽  
Marketing Environment ◽  
Gender Fluidity ◽  
Social Media Platforms ◽  
The Individual ◽  
The Impact ◽  
Broad Complex

Gender is a concept that has evolved with time, varying its meaning and relevance regularly. Today, it manifests across many facets of life. Whilst theories of gender began as a device to categorise individuals and groups, these have evolved into a broad, complex system of identification to describe the uniqueness of the individual. Central to the discussion of gender is the question of how we can understand human conduct and experience in technologically laden marketing environments. Drawing on extant theories, the current chapter examines how the technologically mediated marketing environment (TMME) is increasingly challenging fashion and luxury marketers to reconsider their marketing communications strategies, particularly with the impact of evolving Internet technologies such as social media platforms. The concluding section offers further agenda for future research.

Gender Fluidity in the Age of Technologically Mediated Environments

2019 ◽  
pp. 135-174 ◽  
Author(s):  
Mary-Kate Hickman ◽  
Wilson Ozuem ◽  
Jummy Okoya
Keyword(s):  
Complex System ◽  
Social Media ◽  
Future Research ◽  
Time Varying ◽  
Marketing Environment ◽  
Gender Fluidity ◽  
Social Media Platforms ◽  
The Individual ◽  
The Impact ◽  
Broad Complex

Gender is a concept that has evolved with time, varying its meaning and relevance regularly. Today, it manifests across many facets of life. Whilst theories of gender began as a device to categorise individuals and groups, these have evolved into a broad, complex system of identification to describe the uniqueness of the individual. Central to the discussion of gender is the question of how we can understand human conduct and experience in technologically laden marketing environments. Drawing on extant theories, the current chapter examines how the technologically mediated marketing environment (TMME) is increasingly challenging fashion and luxury marketers to reconsider their marketing communications strategies, particularly with the impact of evolving Internet technologies such as social media platforms. The concluding section offers further agenda for future research.

INFINITE-HORIZON OPTIMAL CONTROL BASED ON CONTINUOUS-TIME CONTINUOUS-STATE HOPFIELD NEURAL NETWORKS

2006 ◽  
Vol 04 (04) ◽  
pp. 707-719
Author(s):  
MING-AI LI ◽  
NAI-GONG YU ◽  
JUN-FEI QIAO ◽  
XIAO-GANG RUAN
Keyword(s):  
Optimal Control ◽  
Continuous Time ◽  
Control Method ◽  
Infinite Horizon ◽  
Hopfield Neural Network ◽  
Time Varying ◽  
Optimization Strategy ◽  
Linear Quadratic ◽  
Continuous State ◽  
Optimization Control

An optimal control method based on continuous-time continuous-state Hopfield neural network (CTCSHNN) is proposed for time-varying multivariable systems. The equivalence is built theoretically between receding-horizon linear quadratic (LQ) performance index and energy function of CTCSHNN, and the CTCSHNN is constructed to solve the above LQ optimization control problems. Moreover, the rolling optimization strategy is adopted to form closed-loop control structure that includes CTCSHNN so, the dynamic infinite-horizon optimization control is realized for multivariable time-varying systems. As an example, a second order time-varying system is simulated. Simulation results show the effectiveness and feasibility of the proposed method.

scholarly journals Robot trajectory optimization control of braiding for three-dimensional complex preforms

2021 ◽  
Vol 16 ◽  
pp. 155892502110432
Author(s):  
Xinfu Chi ◽  
Qiyang Li ◽  
Hongxia Yan ◽  
Sun Yize
Keyword(s):  
Trajectory Optimization ◽  
Control Method ◽  
Three Dimensional ◽  
Great Influence ◽  
Variable Cross Section ◽  
Variable Cross ◽  
Robot Trajectory ◽  
Optimization Control ◽  
Braiding Angle

The quality of composite preform has great influence on its mechanical properties. Aiming at the problems of difficulty in robot teaching and unstable braiding angle in the process of braiding three-dimensional complex component, a control method of robot is proposed. Firstly, the mandrel is discretized to ensure that the axis of each discrete mandrel is perpendicular to the braiding point plane, and the orientation and direction of the tool center are calculated. Then, the take-up speed of the robot is calculated, so that the self-adjustment of the braiding angle can be realized in the braiding process. The experimental results show that the control method can effectively reduce the braiding angle error of variable cross-section mandrel within 2°, and can improve the quality of composite products in actual production.

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