Mechanical Structure Design of Ontology of the Automatic Line-Tracking Inspection Device Based on Pro/E Modeling and the Kinematics Analysis

2012 ◽  
Vol 220-223 ◽  
pp. 1131-1137
Author(s):  
Sheng Mei Luo ◽  
Le Tian ◽  
Bo Zhang
Keyword(s):  
Transmission Lines ◽  
Screw Theory ◽  
Characteristic Parameter ◽  
Structure Design ◽  
Kinematics Analysis ◽  
Modeling Software ◽  
On Line ◽  
Line Tracking ◽  
Set Up ◽  
And Control

A new line-tracking inspection device which can move on the high voltage transmission lines and control on the ground by people is presented in this paper. The device has three mechanical arms, every arm can lift and rotate automatically, and manipulator can open and close automatically. The flexible design is used in lower riding wheel, this design can make the upper and lower riding wheel automatically adjustment, so as to adapt to the change of wire diameter. Automatic checking and autonomous negotiating obstacles are realized successfully in this device. The biggest breakthrough is that its automatic on-line or off-line can be completed by operator operating the auxiliary tools on the ground. This article uses the Pro/E modeling software set up the virtual prototype of the line-tracking inspection device based on characteristic parameter model. The process of on-line or off-line automatically and the process of negotiating obstacles are discussed in this paper. Using the product of exponentials formula based the on screw theory, the kinematics analysis is processed in this paper. The forward and inverse solution of kinematics equations is presented and at last the Jacobian matrix is given. The results of experiments with simulation transmission lines demonstrate that the device has realized the specified work tasks and runs smoothly.

Structure Design and Kinematic Analysis of Stacking Mechanical Arm of Aluminium Ingot

2013 ◽  
Vol 834-836 ◽  
pp. 1414-1417
Author(s):  
Jia Cheng Cai ◽  
Hai Tao Wu ◽  
Tian Chang Yao ◽  
Da Wei Xu
Keyword(s):  
Trajectory Planning ◽  
Kinematic Analysis ◽  
Structure Design ◽  
Motion System ◽  
Dynamics And Control ◽  
Set Up ◽  
And Control ◽  
Important Significance ◽  
Reliable Basis

In view of the existing problem of the traditional aluminium ingot stacking practices, it was important significance to research and develop a stack-manipulator that includes various functions to do portage and stack. According to the demand of stacking, the motion system of the Stack-manipulator based on four degrees was finished. The kinematics equation of the manipulator was set up using the D-H theory, On this base, Some of the kinematics problems of this stack-manipulator were discussed and these reliable basis were provided for the research of the manipulators dynamics and control and trajectory planning.

The Mechanical System Structure Design and Kinematics Analysis of the Bipedal Humanoid Robot Leg

2014 ◽  
Vol 496-500 ◽  
pp. 857-860
Author(s):  
Deng Qi Cui ◽  
Hong Bing Xin ◽  
Long Liu ◽  
Tan Wang ◽  
Yue Fei Xin
Keyword(s):  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Screw Theory ◽  
Structure Design ◽  
System Structure ◽  
Joint Movement ◽  
Kinematics Analysis ◽  
Walking Robot ◽  
Design Requirements ◽  
The Mathematical Model

In the study of humanoid robot, the system design and analysis of the legs is the foundation of realizing humanoid walking robot. In this paper, structure design of each leg joint has been introduced, and according to the degrees of freedom of each joint distribution, using screw theory and exponential product formula to establish the mathematical model of the legs, to analyze the kinematics of the legs, finally obtains that the range of joint movement comply with the design requirements.

scholarly journals Set up and application of an underwater Α-ray spectrometer for radioactivity measurements

2005 ◽  
Vol 6 (1) ◽  
pp. 35 ◽  
Author(s):  
C. TSABARIS ◽  
S. VLACHOS ◽  
C.T. PAPADOPOULOS ◽  
R. VLASTOU ◽  
C.A. KALFAS
Keyword(s):  
Marine Environment ◽  
Detection System ◽  
On Line ◽  
Parallel Measurement ◽  
Set Up ◽  
And Control ◽  
Potassium 40 ◽  
Radioactivity Measurements ◽  
Term Monitoring

The set up and control of an underwater measuring instrument for radioactivity pollution in the marine environment is described. The detection system is based on a NaI scintillator (RADAM III) with modifications for use in the marine environment with on-line measurements. The system is simple, has low power consumption and is stable for long-term monitoring (10 months). Before its deployment, the sensor was calibrated in the laboratory in a tank full of water to reproduce the marine environment. The calibrations were performed, by detecting the 661keV and 1461 keV gamma rays of known activity liquid sources 137 Cs and 40 K, respectively. The measured spectra in the laboratory were compared with spectra from a similar detector as acquired in the field. The analysis of the parallel measurement gave satisfactory agreement for the concentration of the potassium (40 K), as calculated from the salinity in the seawater, thus enabling the system for quantitative measurement of the seawater radioactivity.

scholarly journals ROBUST ADAPTIVE CONTROL USING REINFORCEMENT LEARNING FOR NONLINEAR SYSTEM WITH INPUT CONSTRAINTS

2009 ◽  
Vol 12 (16) ◽  
pp. 5-18
Author(s):  
Luy Tan Nguyen ◽  
Thanh Thien Nguyen ◽  
Ha Thi Phuong Nguyen
Keyword(s):  
Reinforcement Learning ◽  
Learning Algorithm ◽  
Robust Stabilization ◽  
Robust Adaptive Control ◽  
Novel Approach ◽  
On Line ◽  
Robust Adaptive ◽  
Associative Law ◽  
Set Up ◽  
And Control

This paper proposes a novel approach to design a controller in discrete time for the class of uncertain nonlinear systems in the presence of magnitude constrains of control signal which are treated as the saturation nonlinearity. A associative law between reinforcement learning algorithm based on adaptive NRBF neural networks and the theory of robust control Ho is set up in a novel control structure, in which the proposed controller allows learning and control on-line to compensate multiple uncertain nonlinearities as well as minimizing both the H. tracking performance index function and the unknown nonlinear dynamic approximation errors. The novel theorem of robust stabilization of the closed-loop system is declared and proved. Simulation results verify the theoretical analysis.

Kinematics Analysis and Control System Design of 6-DOF Parallel Kinematic Machine with Matlab and EMC2

2010 ◽  
Vol 102-104 ◽  
pp. 363-367
Author(s):  
Bin Cheng Li ◽  
Dan Yang ◽  
Rong Zhi Lu
Keyword(s):  
Inverse Kinematics ◽  
Cnc Machining ◽  
Control System Design ◽  
Kinematics Analysis ◽  
Parallel Kinematic Machine ◽  
Machining Simulation ◽  
Output Control ◽  
Parallel Kinematic ◽  
Set Up ◽  
And Control

This paper obtained the inverse kinematics model through performing kinematic analysis of 6-DOF parallel kinematic machine (PKM) via the MATLAB software. On the basis of that, kinematics inverse module in EMC2(Enhanced Machine Controller) is recompiled and verified through CNC machining simulation, which set up an important foundation for later prototype construction and motor output control.

Passive Pneumatic Teleoperation System

2013 ◽  
Author(s):  
Aly Elmasry ◽  
Matthias Liermann
Keyword(s):  
Transmission Lines ◽  
Force Feedback ◽  
Pressure Control ◽  
Modeling And Control ◽  
Extra Effort ◽  
Physical Connection ◽  
Control Scheme ◽  
Set Up ◽  
And Control ◽  
The Mathematical Model

This paper describes the modeling and control of a pneumatic tele-operation scheme, where the connection of master and slave cylinder is realized signal based but also physically via long transmission lines. The system is called passive because of the passive physical connection, which can also serve as a safety fallback solution. The advantage of this scheme is that a limited force feedback is realized with a minimum of extra effort in comparison to a teleportation system without force feedback. The stiffness of the physical connection is enhanced through a cascaded position and pressure control scheme with two proportional valves as actuators for each pneumatic line. The paper presents the mathematical model of the setup, which is used to determine the relative stability of the dynamic system as a function of control parameters. An experimental setup is presented which was set up to validate the system model. For a distance of 5 m between master and slave cylinder a stiffness of 2.4 N/mm could be established.

Adaptive Signal Analysis and Interpretation for Real-time Intelligent Patient Monitoring

1994 ◽  
Vol 33 (01) ◽  
pp. 60-63 ◽  
Author(s):  
E. J. Manders ◽  
D. P. Lindstrom ◽  
B. M. Dawant
Keyword(s):  
Computer Architecture ◽  
Real Time ◽  
Data Abstraction ◽  
Monitoring Strategy ◽  
Intelligent Monitoring ◽  
Patient Status ◽  
On Line ◽  
Main Components ◽  
And Control ◽  
Adaptive Signal

Abstract:On-line intelligent monitoring, diagnosis, and control of dynamic systems such as patients in intensive care units necessitates the context-dependent acquisition, processing, analysis, and interpretation of large amounts of possibly noisy and incomplete data. The dynamic nature of the process also requires a continuous evaluation and adaptation of the monitoring strategy to respond to changes both in the monitored patient and in the monitoring equipment. Moreover, real-time constraints may imply data losses, the importance of which has to be minimized. This paper presents a computer architecture designed to accomplish these tasks. Its main components are a model and a data abstraction module. The model provides the system with a monitoring context related to the patient status. The data abstraction module relies on that information to adapt the monitoring strategy and provide the model with the necessary information. This paper focuses on the data abstraction module and its interaction with the model.

Pittenweem Priory and the conventuality question

2017 ◽  
Vol 68 (1) ◽  
pp. 19-37 ◽  
Author(s):  
Anthony Lodge
Keyword(s):  
Fifteenth Century ◽  
Traditional View ◽  
Archaeological Evidence ◽  
Significant Development ◽  
New Mother ◽  
Set Up ◽  
And Control

Pittenweem Priory began life as the caput manor of a daughter-house established on May Island by Cluniac monks from Reading (c. 1140). After its sale to St Andrews (c. 1280), the priory transferred ashore. While retaining its traditional name, the ‘Priory of May (alias Pittenweem)’ was subsumed within the Augustinian priory of St Andrews. Its prior was elected from among the canons of the new mother house, but it was many decades before a resident community of canons was set up in Pittenweem. The traditional view, based principally on the ‘non-conventual’ status of the priory reiterated in fifteenth-century documents, is that there was ‘no resident community’ before the priorship of Andrew Forman (1495–1515). Archaeological evidence in Pittenweem, however, indicates that James Kennedy had embarked on significant development of the priory fifty years earlier. This suggests that, when the term ‘non-conventual’ is used in documents emanating from Kennedy's successors (Graham and Scheves), we should interpret it more as an assertion of superiority and control than as a description of realities in the priory.

Respirometry for determination of the influents SS-concentration

1996 ◽  
Vol 33 (1) ◽  
pp. 311-323 ◽  
Author(s):  
A. Witteborg ◽  
A. van der Last ◽  
R. Hamming ◽  
I. Hemmers
Keyword(s):  
Experimental Design ◽  
Activated Sludge ◽  
Substrate Concentration ◽  
Full Scale ◽  
Activated Sludge Process ◽  
Respiration Rates ◽  
On Line ◽  
Large Measurement ◽  
Set Up

A method is presented for determining influent readily biodegradable substrate concentration (SS). The method is based on three different respiration rates, which can be measured with a continuous respiration meter which is operated in a cyclic way. Within the respiration meter nitrification is inhibited through the addition of ATU. Simulations were used to develop the respirometry set-up and decide upon the experimental design. The method was tested as part of a large measurement programme executed at a full-scale plant. The proposed respirometry set-up has been shown to be suitable for a semi-on-line determination of an influent SS which is fully based on the IAWQ #1 vision of the activated sludge process. The YH and the KS play a major role in the principle, and should be measured directly from the process.

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