advanced strategies for mind mapping

... development of high-performance control algorithms for these manipulators is quite a challenge, due to their unique design and the high degree of uncertainty in their 28 Advanced Strategies for Robot Manipulators ... derived using FEM and then studied the feed-forward control strategies for controlling the vibration (Mohamed & Tokhi, 2004) Finite element method was used for describing the dynamics of the system ... Then, the problem was formulated for finding the optimal trajectory and maximum dynamic payload for a given point-to-point task Finally, numerically simulation was carried out for a planar flexible...

Ngày tải lên: 27/06/2014, 15:20

... manipulators It can provide an inclusive reference for other researchers with comparative assessment view in the future studies 2 Advanced Strategies for Robot Manipulators 1.4 Prior work Analyzing ... derived using FEM and then studied the feed-forward control strategies for controlling the vibration (Mohamed & Tokhi, 2004) Finite element method was used for describing the dynamics of the system ... Then, the problem was formulated for finding the optimal trajectory and maximum dynamic payload for a given point-to-point task Finally, numerically simulation was carried out for a planar flexible...

Ngày tải lên: 10/08/2014, 21:22

... development of high-performance control algorithms for these manipulators is quite a challenge, due to their unique design and the high degree of uncertainty in their 28 Advanced Strategies for Robot Manipulators ... 44 Advanced Strategies for Robot Manipulators and the orientation angles for each plane will be tgθ s = Δx s1 Δy s1 = Δx = tgθ Δy (77) hence θ s ( s' ) = θ ( s ) , s ∈ [ , l ] , s'∈ [ , l' ] for ... The description of the desired shape 30 Advanced Strategies for Robot Manipulators To describe the tentacle’s shape we will consider two angles (α, θ) for each segment, where θ is the rotation...

Ngày tải lên: 10/08/2014, 21:22

... based on the constraints for a neurosurgical procedures Section will discuss design considerations for a micro-manipulator for neurosurgery This 62 Advanced Strategies for Robot Manipulators includes ... function for the area reaching control has the form: ⎛ ∗ τ θ i (t ) = − kθ i eθ i (t ) − kθ i eθ i (t ) − max ⎜ , ⎜ ⎝ T ⎞ ∂ VP ⋅ k Pθ a ∗ (θ i , q i )⎟ ⎟ i ∂r ⎠ (121) 56 Advanced Strategies for Robot ... the fixed platform The proposed general topology is depicted in Fig 1, it consists of a fixed platform, a coupler platform and an end–effector–platform also called output– platform Please note...

Ngày tải lên: 10/08/2014, 21:22

... linkages provide for seven revolute joints for Σji = ∗ = and two closed loops for n = The resulting mobility: m = − ∗ = which is verified by experiments 114 Advanced Strategies for Robot Manipulators ... 112 Advanced Strategies for Robot Manipulators or Gough platforms, the actuators have especially to generate straight lines without ... calculate the distance x between O and B 116 Advanced Strategies for Robot Manipulators The four-bar can be referred as one of the simplest parallel manipulator forms, featuring one DOF in the planar...

Ngày tải lên: 10/08/2014, 21:22

... which has two-input one-output rules used in the formulation of the knowledge base These IF-THEN rules have following form: 148 Advanced Strategies for Robot Manipulators l l IF x1 is A11 and x2 ... sliding surface the proposed controller switch from SMC to SFC, therefore, the chattering is avoided here 150 Advanced Strategies for Robot Manipulators Simulation example 2.2 In order to show the ... Control of Robot Manipulators via Intelligent Approaches Fig 25 (sim1) NN control effort 167 168 Advanced Strategies for Robot Manipulators (a) (b) Fig 26 (sim2) Tracking error of joints (a) FSM_PID...

Ngày tải lên: 10/08/2014, 21:22

... tracking error is analyzed for both controllers 174 • • • Advanced Strategies for Robot Manipulators Section VI provides time domain simulation results and performance comparison for several scenarios ... [ ] the platform's orientation a) Inferior base b) Superior base Fig Platform Geometric Model – Actuators reference points 176 Advanced Strategies for Robot Manipulators This transformation matrix ... = iπ − ab for i=1,3,5 βi = βi-1 + ab for i=2,4,6 (9) Where rp: radius of platform; rb: radius of base; ap: angle of platform and ab: angle of base 3.2 Kinematic model The Stewart Platform Manipulator...

Ngày tải lên: 10/08/2014, 21:22

... nonlinear controller gain; and sgn(·) the signum function Therefore, the control input f (t) is given by 208 Advanced Strategies for Robot Manipulators τ (t ) = −(SBe )−1 SAe v f (t ) − F sgn(σ ... International Conference on Advanced Intelligent Mechanics pp 177–182 Utkin, V I (1992) Sliding modes in optimization and control problems, Springer, New York 216 Advanced Strategies for Robot Manipulators ... that Sat[Sat(K p q + x + g ( q d ))] − g( q d − q ) ≡ ⇒ q ≡ h 1( x ) 228 Advanced Strategies for Robot Manipulators Therefore, from LaSalle’s Invariance Principle we conclude that the equilibrium...

Ngày tải lên: 10/08/2014, 21:22

... torques for the Sat(Sat(P)+PI) scheme 10 t [s] 10 t [s] 242 Advanced Strategies for Robot Manipulators Arimoto, S & Miyazaki, F (1984) Stability and robustness of PID feedback control for robot ... 6 Fig Position errors for the (Sat(Sat(PI)+P)) scheme 10 t [s] 10 t [s] 238 Advanced Strategies for Robot Manipulators τ [Nm] ... than second for joints to and lower than seconds for joints to 3) without overshoot The steady state error for each joint is lower than 0.4 degrees Figure shows the applied torque for each joint...

Ngày tải lên: 10/08/2014, 21:22

... NC.1-NC.5 269 270 Advanced Strategies for Robot Manipulators NC.1 The high-low gain controller (see (Liu et al., 2008a) for PF.1 is designed on the basis of S.1 u = −Lξ1 − σ i + for i = 1, 2, 3, ... control methods are not directly available for various flexible systems For example, the path-planning methods in [Torres et 274 Advanced Strategies for Robot Manipulators al., (1994); Nenchev ... The latter leads to a “celebrated” design tool–forwarding T.3 Forwarding and backstepping – Forwarding is a recursive control design procedure for nonlinear systems possessing an upper triangular...

Ngày tải lên: 10/08/2014, 21:22

... tracking for the predicted X coordinate Fig 12 Experimental trajectory tracking for the predicted Y coordinate 306 Advanced Strategies for Robot Manipulators Fig 13 Experimental trajectory tracking for ... for the Yaw orientation angle 307 308 Advanced Strategies for Robot Manipulators References Al-Assadi, H.M.A.A.; Hamouda, A.M.S.; Ismail, N and Aris, I (2007) An adaptive learning algorithm for ... desired output vector (Santosh et al., 1993) 298 Advanced Strategies for Robot Manipulators ANNs while implemented on computers are not programmed to perform specific tasks Instead, they are trained...

Ngày tải lên: 10/08/2014, 21:22

... UAV with respect to OXY are (x,y), while the coordinates of 356 Advanced Strategies for Robot Manipulators Fig 10 Reference frames for the UAV the GPS or visual sensor that is mounted on the UAV, ... is performed locally and only information matrices and state vectors are communicated between the local processing units, (iii) the aggregation performed on the local EKF also compensates for deviations ... state estimate for each UAV should be obtained The paper proposed first the Extended Information Filter (EIF) and the Unscented Information Filter (UIF) as possible approaches for fusing the...

Ngày tải lên: 10/08/2014, 21:22

... environment 392 Advanced Strategies for Robot Manipulators information was obtained fusing different sensors In particular, for the case shown in this paper, the sensors used were a force/torque ... fusion strategies, combining a high-performance language for technical computing with a fast prototyping of the robotic platform since all the inputs and outputs are readable and writable 390 Advanced ... robust and easy-to-maintain experimental robotic platform Two fundamental 388 Advanced Strategies for Robot Manipulators goals were established for the architecture: first, it should standardize...

Ngày tải lên: 10/08/2014, 21:22

... hexagons: a mobile platform B1B3…B6and a base platform C1…C6 They are connected via six extensible prismatic actuators 418 Advanced Strategies for Robot Manipulators (a) for orientation (600 ,450 ... 3/6-Gough-Stewart platform for all different orientations (φ, θ, ψ)can be finally concluded as follows 426 Advanced Strategies for Robot Manipulators 6.2.1 When θ=0, the mobile platform and the base ... the Cartesian space for a constant orientation (φ, θ, ψ) It is a polynomial expression of degree three in the moving platform position parameters XYZ 420 Advanced Strategies for Robot Manipulators...

Ngày tải lên: 10/08/2014, 21:22

... Section Two Mindset: The Leverage Point for Transformation The Role and Impact of Mindset 77 What Is Mindset? 80 Way of Being 82 The Impact of Mindset on Perception 83 The Impact of Mindset on ... Transformational Change 39 Determining the Type of Change Taking Place 47 Summary 50 Two Leadership Approaches to Transformation 51 Two Approaches to Transformation 52 Wake-Up Calls for Transformation ... accomplish their transformations while building their internal capacity for continuous change We provide enterprise-wide breakthrough training for culture and mindset change, personal transformation training,...

Ngày tải lên: 30/11/2015, 01:30

... Section Two Mindset: The Leverage Point for Transformation The Role and Impact of Mindset 77 What Is Mindset? 80 Way of Being 82 The Impact of Mindset on Perception 83 The Impact of Mindset on ... Transformational Change 39 Determining the Type of Change Taking Place 47 Summary 50 Two Leadership Approaches to Transformation 51 Two Approaches to Transformation 52 Wake-Up Calls for Transformation ... accomplish their transformations while building their internal capacity for continuous change We provide enterprise-wide breakthrough training for culture and mindset change, personal transformation training,...

Ngày tải lên: 30/11/2015, 01:48

... General Test-Taking Strategies Before studying the specific strategies for the Math and Verbal questions, you will find it useful to review the following General Strategies for taking the SAT ... strategies for taking your next exam What Are the Most Crucial Strategies for Students? All specific Verbal (Critical Reading) and Math Strategies are crucial, including the general test-taking strategies ... Test / xxvii General Test-Taking Strategies Critical Reading Strategies Vocabulary Strategies / Reading Comprehension Strategies / 27 Sentence Completion Strategies / 21 Practice Exercises...

Ngày tải lên: 12/04/2018, 14:07

... Management Advanced Techniques, Tips & Strategies For Product Management & Product Marketing By Brian Lawley 20660 Stevens Creek Blvd Suite 210 Cupertino, CA 95014 Expert Product Management: Advanced ... arising from the information contained in this book Praise for Expert Product Management "Being an expert in product management means knowing what is critical for product success The strategies and ... chance for maximizing revenues This chapter will discuss how to perform high-level planning in the form of roadmaps, how to prioritize features and how to use different types of organizing strategies...

Ngày tải lên: 06/03/2015, 23:31

... 113 5.8 Performance of MEC controller for 17 patients 114 5.9 Performance of PID controller for 17 patients 115 5.10 IAE for all the 17 patients for set-point change ... Page 6.8 Performance of MPC and PID for sensitive and insensitive patients for the set-point changes during the maintenance period 163 6.9 Average performance of MPC and PID for the set-point ... and PID controllers for the Marsh model 108 5.6 Performance of MPC controller for 17 patients 112 5.7 Performance of IMC controller for 17 patients ...

Ngày tải lên: 14/09/2015, 08:25

... Our thanks are due to the survey respondents for their time and insight © The Economist Intelligence Unit 2008 Mapping the recovery New strategies for private-equity markets Key Þndings F ollowing ... know © The Economist Intelligence Unit 2008 Mapping the recovery New strategies for private-equity markets With ample liquidity and wide latitude for deploying their capital, sovereignwealth ... Appendix Survey results Mapping the recovery New strategies for private-equity markets In your experience, which of the following is the most important pre-deal factor in under-performing businesses?...

Ngày tải lên: 06/12/2015, 23:08