demodulation of fm data in free space optical communication systems using discrete wavelet trans
Báo cáo hóa học: " Research Article Characterization of a Reconfigurable Free-Space Optical Channel for Embedded Computer Applications with Experimental Validation Using Rapid Prototyping Technology" pptx
... that an optical signal can go through These techniques consist in increasing the optical power of the transmitter to the overload level of the detector, using RZ modulation code instead of NRZ ... value of P0 at first output We can conclude that in spite of using off-the-shelf LCs after a correct optimization and without the need of precise systems of alignment, the limiting factor in the optical ... approach is to use a single hop to form each (physically) long-distance link, with the signal remaining in the optical domain throughout Since a highperformance free- space optical system can carry...
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Optical performance monitoring in high speed optical communication systems
... several topics of OPM are investigated, including monitoring optical impairments in fiber link and transmitter Firstly, the optical signal to noise ratio (OSNR) monitoring method using uncor- vi ... of Optical Transmission System and Optical Performance Monitoring In this chapter, the basic knowledge of optical fiber transmission systems and electrical sampling technique are studied In optical ... OADM Optical Add/Drop Multiplexer OBPF Optical Band-pass Filter ODI Optical Delay Interferometer OEO Optical- Electrical -Optical OOK On-Off Keying OPM Optical Performance Monitoring OSNR Optical...
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Báo cáo hóa học: " QUADRATIC OPTIMIZATION OF FIXED POINTS FOR A FAMILY OF NONEXPANSIVE MAPPINGS IN HILBERT SPACE" pot
... family of nonexpansive mappings and applications, Indian J Math 41 (1999), no 3, 435–453 H H Bauschke, The approximation of fixed points of compositions of nonexpansive mappings in Hilbert space, ... Bondon, Adaptive linear filtering with convex constraints, Proceedings of the IEEE International Conference on Acoustics, Speech, and Signal Processing (Detroit, Mich, 1995), Institute of Electrical ... IEEE 81 (1993), no 2, 182– 208 , Constrained image recovery in a product space, Proceedings of the IEEE International Conference on Image Processing (Washington, DC, 1995), IEEE Computer Socitey...
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Control of Robot Manipulators in Joint Space doc
... number of joints of a manipulator determines also its number of degrees of freedom (DOF ) Typically, a manipulator possesses DOF, among which determine the position of the end of the last link in ... obtained primarily in terms of the coordinates in the workspace Then, following the socalled method of inverse kinematics one may obtain a time-parameterized trajectory for the joint coordinates ... “Control of Robots” Involve? Figure 1.7 Trajectory motion specification Path planning consists in determining a curve in the state space, connecting the initial and final desired posture of the end-effector,...
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control of robot manipulators in joint space r kelly v santibanez and a loria ppt
... number of joints of a manipulator determines also its number of degrees of freedom (DOF ) Typically, a manipulator possesses DOF, among which determine the position of the end of the last link in ... coordinates in the workspace Then, following the socalled method of inverse kinematics one may obtain a time-parameterized trajectory for the joint coordinates The control design consists in solving ... planning consists in determining a curve in the state space, connecting the initial and final desired posture of the end-effector, while avoiding any obstacle Trajectory generation consists in parameterizing...
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Control of Robot Manipulators in Joint Space - Part 1 pps
... number of joints of a manipulator determines also its number of degrees of freedom (DOF ) Typically, a manipulator possesses DOF, among which determine the position of the end of the last link in ... coordinates in the workspace Then, following the socalled method of inverse kinematics one may obtain a time-parameterized trajectory for the joint coordinates The control design consists in solving ... planning consists in determining a curve in the state space, connecting the initial and final desired posture of the end-effector, while avoiding any obstacle Trajectory generation consists in parameterizing...
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Control of Robot Manipulators in Joint Space - Part 2 pdf
... (m1 lc1 + m2 l1 )g sin(q1 ) + m2 glc2 sin(q1 + q2 ) g2 (q) = m2 glc2 sin(q1 + q2 ) Consider PD control In view of the presence of g(q), in general the origin T ˜ ˙ = ∈ IR4 of the closed-loop ... 143 We present next an analysis of PD control for n-DOF robot manipulators The behavior of an n-DOF robot in closed-loop with PD control is determined by combining the model Equation (II.1) with ... nonlinear nature of g(q d − s), derivation of the explicit solutions of s is in general relatively complex In the future sections we treat separately the cases in which the robot model contains...
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Control of Robot Manipulators in Joint Space - Part 3 docx
... feedback-linearization based controllers is that the stability theory of linear systems is far more developed than that of nonlinear systems In particular, the tuning of the gains of such controllers ... stability of the origin as an equilibrium point of the closed-loop equation We this using Lyapunov’s direct method To that end, we start by introducing the constant ε satisfying λmin {Kv } > ... contains quadratic terms of the components of the joint velocities The consequence of this is that high order nonlinearities appear in the control law and therefore, in the case of model uncertainty,...
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Control of Robot Manipulators in Joint Space - Part 4 potx
... of the origin of the closed-loop system, was first solved for one-degree -of- freedom robots (including a term that is quadratic in the velocities) in • Lor´ A., 1996, “Global tracking control of ... This completes the proof of global attractivity of the origin and, since we have already shown that the origin is Lyapunov stable, of global asymptotic stability of the origin of the closed-loop ... assumed that uncertainty in the model of the manipulator consists only of the lack of knowledge of the numerical values of the elements of θ Hence, the structural form of the model of the manipulator...
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Control of Robot Manipulators in Joint Space - Part 5 pptx
... − y z w , ♦♦♦ 410 C Proofs of Some Properties of the Dynamic Model Proof of Property 4.3.3 The proof of inequality (4.10) follows invoking Theorem A.3 Since the vector of gravitational torques ... methodology involves the use of operators that characterize the behavior of the distinct parts of the interconnected dynamic systems We present next a set of definitions and properties of spaces of functions ... globally positive definite q ♦ C Proofs of Some Properties of the Dynamic Model Proof of Property 4.1.3 The proof of the inequality (4.2) follows straightforward invoking Corollary A.1 This is possible...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 1 ppt
... number of joints of a manipulator determines also its number of degrees of freedom (DOF ) Typically, a manipulator possesses DOF, among which determine the position of the end of the last link in ... knowledge of different disciplines Among these, electrical engineering, mechanical engineering, industrial engineering, computer science and applied mathematics Hence, robotics incorporates a variety of ... continue to gain interest and, following the demands of modern industry, every year more and more program studies, from engineering departments and faculties of universities round the globe, include...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 2 potx
... coordinates in the workspace Then, following the socalled method of inverse kinematics one may obtain a time-parameterized trajectory for the joint coordinates The control design consists in solving ... planning consists in determining a curve in the state space, connecting the initial and final desired posture of the end-effector, while avoiding any obstacle Trajectory generation consists in parameterizing ... workspace (which may be translated under appropriate conditions into a point in the joint space) The position control problem consists in driving the manipulator’s end-effector (resp the joint...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 3 doc
... an open kinematic chain as illustrated in Figure 3.1 q3 z0 z2 link joint link joint q1 joint n z3 q2 z1 zn link n qn ⎡ ⎤ x1 ⎢x2⎥ x = ⎣.⎦ xm y0 x0 Figure 3.1 Abstract diagram of an n-DOF robot ... are obtained by evaluating the time derivative of the positions x2 and y2 of the center of mass of link 2, i.e x2 = l1 cos(q1 ) + lc2 cos(q2 − δ) y2 = l1 sin(q1 ) + lc2 sin(q2 − δ) Using the ... mechanism may be obtained using the concepts of dynamics of rigid bodies in rotation, which are subjects of study in elementary courses of physics However, for the sake of illustration we employ...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 4 docx
... the stability, in the sense of Lyapunov, of the equilibria of the closed-loop system In anticipation of the material in later chapters of this text and in support of the material of Chapter it ... through its center of mass; the moment of inertia of the second link is supposed negligible; • l1 is the length of link 1; • lc1 is the distance to the center of mass of link taken from its rotation ... definition of stability in the sense of Lyapunov, which is presented in Definition 2.2 in Chapter 2, applies to an equilibrium (typically the origin) Hence, in studying the “stability of a robot...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 5 pot
... more intuitive to specify a task for a robot in end-effector coordinates so that interest in the inverse kinematics problem increases with the complexity of the manipulator (number of degrees of freedom) ... control 5.2 Inverse Kinematics The inverse kinematic model of robot manipulators is of great importance from a practical viewpoint This model allows us to obtain the joint positions q in terms of the ... significant since such motions excite nonlinearities in the system It also contains a slowly increasing term to bring the robot to the operating point without driving the actuators into saturation...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 6 potx
... (m1 lc1 + m2 l1 )g sin(q1 ) + m2 glc2 sin(q1 + q2 ) g2 (q) = m2 glc2 sin(q1 + q2 ) Consider PD control In view of the presence of g(q), in general the origin T ˜ ˙ = ∈ IR4 of the closed-loop ... nonlinear nature of g(q d − s), derivation of the explicit solutions of s is in general relatively complex In the future sections we treat separately the cases in which the robot model contains ... 143 We present next an analysis of PD control for n-DOF robot manipulators The behavior of an n-DOF robot in closed-loop with PD control is determined by combining the model Equation (II.1) with...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 7 pdf
... gradient of f (˜ ) is zero for q = ∈ IRn Indeed, one can show q ε ˜ q that if λmin {Kp } > kg the gradient of f (˜ ) is zero only at q = ∈ IRn The proof of this claim is similar to the proof of unicity ... is, in the form of a nonlinear autonomous differential equation whose T ˜ ˙ origin q T q T = ∈ IR2n is an equilibrium point Nevertheless, besides the origin, there may exist other equilibria Indeed, ... origin, but there might also be other equilibria In spite ˜ of this, we show by using Lemma 2.2 that both, the position error q (t) and the T T ˙ ˙ ˜ velocity error q(t) remain bounded for all initial...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 9 ppt
... feedback-linearization based controllers is that the stability theory of linear systems is far more developed than that of nonlinear systems In particular, the tuning of the gains of such controllers ... stability of the origin as an equilibrium point of the closed-loop equation We this using Lyapunov’s direct method To that end, we start by introducing the constant ε satisfying λmin {Kv } > ... contains quadratic terms of the components of the joint velocities The consequence of this is that high order nonlinearities appear in the control law and therefore, in the case of model uncertainty,...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 10 pps
... prove that the origin [q T q ]T = ∈ IR2n of the state space is an equilibrium, independently of the gain matrices Kp and Kv However, the number of equilibria of the system in closed loop, i.e.(12.7), ... any integer value that n takes ♦ ˜ ˜ The following example presents the study of the feedforward control of a 3DOF Cartesian robot The dynamic model of this manipulator is an innocuous linear ... results in certain applications as we show in the following example y g Link l1 lc1 x I1 m1 Link m2 q1 I2 q2 lc2 l2 Figure 12.2 Diagram of the Pelican prototype Example 12.3 Consider the 2-DOF prototype...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 11 doc
... of the origin of the closed-loop system, was first solved for one-degree -of- freedom robots (including a term that is quadratic in the velocities) in • Lor´ A., 1996, “Global tracking control of ... This completes the proof of global attractivity of the origin and, since we have already shown that the origin is Lyapunov stable, of global asymptotic stability of the origin of the closed-loop ... at the beginning of this analysis, we obtain ¨ ¨ ˜ ξ, q , q (3) ∈ Ln , ∞ (13.10) ¨ ¨ ˜ ξ − B q ∈ Ln ∞ (13.11) and therefore, On the other hand, integrating both sides of (13.6) and using that...
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