scholarly journals Synchronized Motion Profiles for Inverse-Dynamics-Based Online Control of Three Inextensible Segments of Trunk-Type Robot Actuators

2021 ◽  
Vol 11 (7) ◽  
pp. 2946
Author(s):  
Mindaugas Matukaitis ◽  
Renaldas Urniezius ◽  
Deividas Masaitis ◽  
Lukas Zlatkus ◽  
Benas Kemesis ◽  
...  
Keyword(s):  
Spatial Orientation ◽  
Inverse Kinematics ◽  
Inverse Dynamics ◽  
Parametric Method ◽  
Black Box ◽  
Soft Constraint ◽  
Numeric Simulation ◽  
Novel Method ◽  
The Given ◽  
State Configuration

This study proposes a novel method for the positioning and spatial orientation control of three inextensible segments of trunk-type robots. The suggested algorithm imposes a soft constraint assumption for the end-effector’s endpoint and a mandatory constraint on its direction. Simultaneously, the algorithm by-design enforces nonholonomic features on the robot segments in the form of arcs. An approximate robot spine curve is the key to the final robot state configuration based on the given conditions. The numeric simulation showed acceptable (less than 1 s) performance for single-core processing tasks. The parametric method finds the best proximate robot state solution and represents the gray box model in addition to existing learning or black-box inverse dynamics approaches. This study also shows that a multiple inverse kinematics answer constructs a single inverse dynamics solution that defines the robot actuators’ motion profiles, synchronized in time. Finally, this text presents rotational expressions and their outlines for controlling the manipulator’s tendons.

Effects of Dynamic Model Errors in Task-Priority Operational Space Control

Robotica ◽  
2021 ◽  
pp. 1-12
Author(s):  
Paolo Di Lillo ◽  
Gianluca Antonelli ◽  
Ciro Natale
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Inverse Dynamics ◽  
Null Space ◽  
Control Algorithms ◽  
Model Errors ◽  
Operational Space ◽  
Dynamic Level ◽  
Concurrent Tasks ◽  
Modeling Errors

SUMMARY Control algorithms of many Degrees-of-Freedom (DOFs) systems based on Inverse Kinematics (IK) or Inverse Dynamics (ID) approaches are two well-known topics of research in robotics. The large number of DOFs allows the design of many concurrent tasks arranged in priorities, that can be solved either at kinematic or dynamic level. This paper investigates the effects of modeling errors in operational space control algorithms with respect to uncertainties affecting knowledge of the dynamic parameters. The effects on the null-space projections and the sources of steady-state errors are investigated. Numerical simulations with on-purpose injected errors are used to validate the thoughts.

scholarly journals A novel method for the analytical solution of fractional Zakharov–Kuznetsov equations

2019 ◽  
Vol 2019 (1) ◽  
Author(s):  
Rasool Shah ◽  
Hassan Khan ◽  
Dumitru Baleanu ◽  
Poom Kumam ◽  
Muhammad Arif
Keyword(s):  
Present Method ◽  
Decomposition Method ◽  
Fractional Derivatives ◽  
Adomian Decomposition Method ◽  
Current Method ◽  
Analytical Technique ◽  
Suggested Technique ◽  
Adomian Decomposition ◽  
Novel Method ◽  
The Given

AbstractIn this article, an efficient analytical technique, called Laplace–Adomian decomposition method, is used to obtain the solution of fractional Zakharov– Kuznetsov equations. The fractional derivatives are described in terms of Caputo sense. The solution of the suggested technique is represented in a series form of Adomian components, which is convergent to the exact solution of the given problems. Furthermore, the results of the present method have shown close relations with the exact approaches of the investigated problems. Illustrative examples are discussed, showing the validity of the current method. The attractive and straightforward procedure of the present method suggests that this method can easily be extended for the solutions of other nonlinear fractional-order partial differential equations.

scholarly journals An evolutionary approach to the vehicle route planning in e-waste mobile collection on demand

2021 ◽  
Vol 25 (8) ◽  
pp. 6665-6680
Author(s):  
Krzysztof Szwarc ◽  
Piotr Nowakowski ◽  
Urszula Boryczka
Keyword(s):  
Tabu Search ◽  
Quality Evaluation ◽  
Memetic Algorithm ◽  
Route Planning ◽  
Memetic Algorithms ◽  
Approximate Methods ◽  
On Demand ◽  
Suboptimal Solutions ◽  
Novel Method ◽  
The Given

AbstractThe article discusses the utilitarian problem of the mobile collection of waste electrical and electronic equipment. Due to its $$\mathcal {NP}$$ NP -hard nature, implies the application of approximate methods to discover suboptimal solutions in an acceptable time. The paper presents the proposal of a novel method of designing the Evolutionary and Memetic Algorithms, which determine favorable route plans. The recommended methods are determined using quality evaluation indicators for the techniques applied herein, subject to the limits characterizing the given company. The proposed Memetic Algorithm with Tabu Search provides much better results than the metaheuristics described in the available literature.

Kinematics and Dynamics of a Parallel Manipulator With Woven Joints

1993 ◽  
Author(s):  
Hyunsok Pang
Keyword(s):  
Lagrange Multipliers ◽  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Inverse Dynamics ◽  
Numerical Technique ◽  
Vector Analysis ◽  
Kinematics And Dynamics ◽  
Governing Equations ◽  
Numerical Examples

Abstract Presented is an analysis of the kinematics and the inverse dynamics of a proposed three DOF parallel manipulator resembling the Stewart platform in a general form. In the kinematic analysis, the inverse kinematics, velocity and acceleration analyses are performed, respectively, using vector analysis and general homogeneous transformations. An algorithm to solve the inverse dynamics of the proposed parallel manipulator is then presented using a Lagrangin technique. In this case, it is found that one should introduce and subsequently eliminate Lagrange multipliers in order to arrive at the governing equations. Numerical examples are finally carried out to examine the validity of the approach and the accuracy of the numerical technique employed. The trajectory of motion of the manipulator is also performed using a cubic spline.

scholarly journals Hierarchical Classification Based on Label Distribution Learning

2019 ◽  
Vol 33 ◽  
pp. 5533-5540 ◽  
Author(s):  
Changdong Xu ◽  
Xin Geng
Keyword(s):  
Hierarchical Classification ◽  
Experimental Results ◽  
Challenging Problem ◽  
Training Set ◽  
True Label ◽  
Major Bottleneck ◽  
Novel Method ◽  
Class Labels ◽  
Label Distribution ◽  
The Given

Hierarchical classification is a challenging problem where the class labels are organized in a predefined hierarchy. One primary challenge in hierarchical classification is the small training set issue of the local module. The local classifiers in the previous hierarchical classification approaches are prone to over-fitting, which becomes a major bottleneck of hierarchical classification. Fortunately, the labels in the local module are correlated, and the siblings of the true label can provide additional supervision information for the instance. This paper proposes a novel method to deal with the small training set issue. The key idea of the method is to represent the correlation among the labels by the label distribution. It generates a label distribution that contains the supervision information of each label for the given instance, and then learns a mapping from the instance to the label distribution. Experimental results on several hierarchical classification datasets show that our method significantly outperforms other state-of-theart hierarchical classification approaches.

Inverse kinematics and inverse dynamics for control of a biped walking machine

1993 ◽  
Vol 10 (4) ◽  
pp. 531-555 ◽  
Author(s):  
Ching-Long Shih ◽  
William A. Gruver ◽  
Tsu-Tian Lee
Keyword(s):  
Inverse Kinematics ◽  
Inverse Dynamics ◽  
Biped Walking ◽  
Walking Machine

DELTA: a simple and efficient parallel robot

Robotica ◽  
1990 ◽  
Vol 8 (2) ◽  
pp. 105-109 ◽  
Author(s):  
F. Pierrot ◽  
C. Reynaud ◽  
A. Fournier
Keyword(s):  
Inverse Kinematics ◽  
Research Team ◽  
Dynamic Models ◽  
Inverse Dynamics ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Kinematic Parameters ◽  
Mechanical Structure ◽  
Serial Robots ◽  
École Polytechnique

SummaryThe DELTA parallel robot, designed by an EPFL (Ecole Polytechnique Fédérale de Lausanne) research team, is a mechanical structure which has the advantage of parallel robots and ease of serial robots modeling. This paper presents solutions for a complete modeling of the DELTA parallel robot (direct and inverse kinematics, inverse statics, inverse dynamics), with few arithmetic and trigonometric operations. Our method is based on a satisfactory choice of kinematic parameters and on a few restricting hypotheses for the static and dynamic models. We give some details of each model, we present some computation results and we put the emphasis on some particular points, showing the capabilities of this mechanical structure.

scholarly journals Role-Mining Optimization with Separation-of-Duty Constraints and Security Detections for Authorizations

2019 ◽  
Vol 11 (9) ◽  
pp. 201 ◽  
Author(s):  
Wei Sun ◽  
Shiwei Wei ◽  
Huaping Guo ◽  
Hongbing Liu
Keyword(s):  
Access Control ◽  
Optimization Approach ◽  
Role Based Access Control ◽  
Control Mechanisms ◽  
Engineering Technology ◽  
Role Mining ◽  
Novel Method ◽  
Separation Of Duty ◽  
Role Based ◽  
The Given

Role-based access control (RBAC), which has been regarded as one of the most popular access-control mechanisms, is featured by the separation-of-duty constraints, mutually exclusive constraints, and the least-privileges principle. Role mining, a bottom-up role-engineering technology, is an effective method to migrate from a non-RBAC system to an RBAC system. However, conventional role-mining approaches not only do not consider the separation of duty constraints, but also cannot ensure the security of a constructed RBAC system when the corresponding mined results violate the separation of a duty constraint and/or the least-privileges principle. To solve these problems, this paper proposes a novel method called role-mining optimization with separation-of-duty constraints and security detections for authorizations (RMO_SODSDA), which mainly includes two aspects. First, we present a role-mining-optimization approach for satisfying the separation of duty constraints, and we constructed different variants of mutually exclusive constraints to correctly implement the given separation of duty constraints based on unconstrained role mining. Second, to ensure the security of the constructed system and evaluate authorization performance, we reduced the authorization-query problem to a maximal-satisfiability problem. The experiments validate the effectiveness and efficiency of the proposed method.

An Approach for Generating an Average Bone Template With Semantic Parameters

2017 ◽  
Vol 11 (3) ◽  
Author(s):  
Kunjin He ◽  
Rongli Zhang ◽  
Zhengming Chen ◽  
Junfeng Jiang ◽  
Zhang Yuming
Keyword(s):  
Average Equation ◽  
Bone Model ◽  
Characteristic Points ◽  
Novel Method ◽  
Parameter Values ◽  
The Given ◽  
Average Bone ◽  
Equal Contribution ◽  
Semantic Parameters

To facilitate the design of the serialized implants and to satisfy the requirements of the population, a novel method is put forward for constructing an average bone model (ABM) with semantic parameters as a template. First, the ABM is created from the existing bone models, among which each bone has an equal contribution to the ABM. Second, combined with medical semantics, some characteristic points and semantic parameters are defined on the ABM, and then, parameter values for each bone can be automatically obtained through its registration and deformation to the ABM. Finally, an average bone template (ABT) is constructed by configuring the semantic parameters and by building the constraints between parameters. Taking 100 femur models as samples, we construct the ABT, and the template can be easily extended to generate a new average template through the given average equation.

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