memory psychology of pages 16587 16593 r h logie and s della sala pdf
Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 1 pptx
Ngày tải lên :
10/08/2014, 01:22
... Engineering Research Council (NSERC) of Canada through research grants awarded to Professor J Angeles (McGill University) and Professor R. V Patel The authors would like to acknowledge the help and ... contributions of several colleagues with whom they have interacted or collaborated on various aspects of the research described in this monograph In particular, thanks are due to Professor Jorge ... Berlin Heidelberg New York Library of Congress Control Number: 2005923294 This work is subject to copyright All rights are reserved, whether the whole or part of the material is concerned, specifically...
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Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 2 ppsx
Ngày tải lên :
10/08/2014, 01:22
... obstacles in the workspace This has motivated researchers to study the role of kinematic redundancy Redundant manipulators possess extra DOFs than those required to perform the main task (s) These ... the research described in this monograph Future avenues for research in order to extend the current work are also suggested CHAPTER REDUNDANT MANIPULATORS: KINEMATIC ANALYSIS AND REDUN- Redundant ... control schemes that we propose in this monograph for redundant manipulators We also introduce various choices for the additional tasks and their analytical representations Simulation results for...
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Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 3 pot
Ngày tải lên :
10/08/2014, 01:22
... third joint variable enters the buffer region Figure 2.8(b) shows the results for p=4 As we can see, in this case all joints stay far from their limits Figure 2.9 shows the third joint variable ... redundancy resolution schemes at the acceleration level suffer from uncontrolled self-motion In this section, the sources of this problem were presented Their solutions will be presented in Chapters and ... Conclusions In this chapter, the basic issues needed for the analysis of kinematically redundant manipulators were presented Different redundancy resolution schemes were reviewed Based on this review,...
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Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 4 pptx
Ngày tải lên :
10/08/2014, 01:22
... fictitious semi-sphere of the same radius 3.2.3 Sphere-Sphere Collision Detection This is the simplest case among the three collision-detection schemes presented The critical distance h ij is the distance ... the ends of the cylinders, rather than the simple circular disks (B) CYLINDERS WITH INTERSECTING AXES In order to characterize a collision between two cylinders with intersecting axes, we first ... Figure 3.9) If the line N ij passes through the points H i and H j of L i and L j (with H i and H j being the closest points of the two lines to the origin), then the dual representation of N...
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Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 5 pptx
Ngày tải lên :
10/08/2014, 01:22
... 403 Therefore, there is considerable error on both sub-tasks d, e, and f show the simulation results with a larger value of W v This time, the whole Jacobian matrix remains far from singularity ... ), and the maximum errors are reduced significantly However, in the case that W v = 20I 7 , there is considerable error at the end of the trajectory This shows that W v should be selected as small ... over a greater part of the workspace However, this risk cannot be eliminated completely, and the singularity robustness factor W v should either be selected large enough, which introduces errors...
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Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 6 pps
Ngày tải lên :
10/08/2014, 01:22
... graphics visualization of the arm (MRS) MRS serves as a virtual environment; the graphics model of the robot mirrors the exact motion of the arm, and the environment can be modeled in the graphics ... the result using MRS (e.g., are the obstacles avoided?) Adjust parameters and repeat step if necessary Position the stationary obstacles in the workspace Use the command trajectory to run the ... tries to reject these forces, and hence, gives rise to larger interaction forces The consequences of this are saturation, instability, or even physical failure and damage to the robot and the...
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Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 7 pptx
Ngày tải lên :
10/08/2014, 01:22
... control requires expressing the manipulator s task in Cartesian space; therefore, such schemes are usually based on the Cartesian dynamic model of manipulator However, in the presence of redundancy, ... considered as screws represented in axis and ray coordinates Therefore, in general the concept of orthogonality of force and position controlled subspaces is not valid As shown in [80], the concept ... [51]; the former also includes an HIC scheme These schemes can be considered as multipurpose algorithms since different additional tasks can be incorporated in HIC without modifying the schemes and...
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Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 8 potx
Ngày tải lên :
10/08/2014, 01:22
... (AAHIC) scheme is presented which guarantees asymptotic convergence in both position and force controlled subspaces with precise force measurements The control scheme ensures stability of the system ... is proposed which enjoys all the desirable characteristics of the previous scheme and achieves self-motion stabilization 4.3.3.1 Outer-Loop Design The design of the outer-loop is similar to the ... the selfmotion of the arm This is the major shortcoming of the AHIC scheme proposed in Section 4.3.2 In this section by modifying both the inner and outer control loops, a new AHIC control scheme...
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Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 9 ppt
Ngày tải lên :
10/08/2014, 01:22
... scheme also ensures stability of the system in the presence of bounded force measurement errors Even in the case of imprecise force measurements, the errors in the position controlled subspaces can ... the robustness issue, we consider the effects of imprecise force measurements It is obvious that error in force measurements directly affects the tracking performance in the force controlled subspaces ... n n L and consequently J e s J c s L In order to establish a link between S and the tracking errors of ACT trajectories, we assume that the tracking errors of the damped least-squares solution...
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Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 10 docx
Ngày tải lên :
10/08/2014, 01:22
... another set of simulations was performed shows the results of these simulations As in the previous simulations the desired position is reached after seconds For = , the velocity fades away with ... Manipulator Simulations and hardware experiments were used to study the effects of these sources on tracking performance It should be noted that in order to distinguish the performance of the model-based ... another SGI workstation which runs the Multi-Robot Simulation (MRS) graphical software [77], [9], [10] for online 3-D graphics rendering of the movement of the arm 5.4.2 Description of the sources...
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Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 11 doc
Ngày tải lên :
10/08/2014, 01:22
... calibrated, the successful operation of the peg-in-the-hole strawman task by REDIESTRO demonstrates a high level of robustness of the proposed scheme The goal of this chapter is to demonstrate the ... force and position tracking and also robustness with respect to knowledge of the environment and kinematic errors Finally, experimental results for these strawman tasks are presented The hardware ... The results of the original AHIC scheme are compared with the modified AHIC scheme No joint friction compensation is performed to study the robustness of the algorithms Figure 5.19 shows the comparison...
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Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 12 pdf
Ngày tải lên :
10/08/2014, 01:22
... mm However, the structural designs of the head of the peg and the top of the holes facilitate the correct initiation of the insertion process in the presence of small positioning errors With this ... the setup used for the hardware demonstration of the strawman task The five segments of the task are shown in Figure 6.13 Table 6-1 summarizes the control parameters used for this task, where ... position errors due to imprecise kinematic parameters of the arm and its environment Before presenting the numerical results of the strawman tasks, let us study the performance of the AHIC scheme...
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Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 13 pps
Ngày tải lên :
10/08/2014, 01:22
... required The peg remains inserted until the removal phase starts Phase (removal): In this phase, a positive desired force is specified which forces the removal process to start In order to test the ... conflicts between the main and additional tasks However, this introduction of singularity robustness results in tracking errors in regions away from singularities It has been shown that by a proper selection ... while introducing orientation error on the axes of the holes Strawman Task II was successfully demonstrated for this case as well 6.4 Conclusions The goal of this chapter was to demonstrate the...
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Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 14 pdf
Ngày tải lên :
10/08/2014, 01:22
... Reconfigurable Sensor-Based Control Systems”, Proc IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS ‘92), Raleigh, North Carolina, pp 325332, 1992 [84] K.C Suh and J.M Hollerbach, ... conception assistee par l’ordinateur”, These d’Etat, USTL, Montpellier, France, July 1986 194 References [9] I.J Bryson, Software Architecture and Associated Design and Implementation Issues for Multiple-Robot ... for this function is produced by the symbolic optimization routine provided by the RDM software [78] References [1] R Anderson, and M.W Spong, “Hybrid impedance control of robotic manipulators”,...
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Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 15 docx
Ngày tải lên :
10/08/2014, 01:23
... 280: Pasik-Duncan, B (Ed) Stochastic Theory and Control 564 p 2002 [3-540-43777-0] Vol 279: Engell, S. ; Frehse, G.; Schnieder, E (Eds) Modelling, Analysis, and Design of Hybrid Systems 516 p ... 278: Chunling D and Lihua X (Eds) H Control and Filtering of Two-dimensional Systems 161 p 2002 [3-540-43329-5] Vol 277: Sasane, A Hankel Norm Approximation for Inˇnite-Dimensional Systems 150 ... [3-540-44054-2] Vol 282: Schroder, J Modelling, State Observation and Diagnosis of Quantised Systems 368 p 2003 [3-540-44075-5] Vol 281: Zinober A.; Owens D (Eds) Nonlinear and Adaptive Control 416 p 2002...
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Báo cáo y học: "Proteome changes of lungs artificially infected with H-PRRSV and N-PRRSV by two-dimensional fluorescence difference gel electrophoresis" pps
Ngày tải lên :
12/08/2014, 04:20
... public health Studies showed that highly virulent Chinese-type PRRSV (H- PRRSV) is the major causative pathogen of H- PRRS[9] Preliminary results indicated that PRRSV strongly modulates the host 's immune ... lungs and lymphoid tissues [23] However, host response to highly virulent Chinese-type PRRSV (H- PRRSV) and non-high-pathogenic North American-type PRRSV strains (N-PRRSV) in porcine lungs has not ... Besides, protective proteins in response to a variety of virus-induced stresses such as oxidative stress, heat shock and toxicants have been shown to be expressed differentially after either H- PRRSV...
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Principles of microeconomics 4th ed robert h frank and bernanke
Ngày tải lên :
18/11/2016, 10:05
... where he was named the Howard Harrison and Gabrielle Snyder Beck Professor of Economics and Public Affairs, and where he served as Chairman of the Economics Department Professor Bernanke was sworn ... percentage of his shots than other players Based on this information, the assistant suggests to the head coach that the star player should take all the shots That way, the assistant reasons, the ... BEN S BERNANKE Professor Frank is the Henrietta Johnson Louis Professor of Management and Professor of Economics at the Johnson Graduate School of Management at Cornell University, where he has...
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Tài liệu CONTROL OF ORGANIC COMPOUND EMISSIONS FROM CHEMICAL, COATINGS AND RUBBER PRODUCTS MANUFACTURING pdf
Ngày tải lên :
14/02/2014, 08:20
... thinning tanks, blending tanks, and other process vessels used in any synthetic resin manufacturing facility which has maximum theoretical emissions of VOCs from the processes greater than or equal ... web site is current through the last published Wisconsin Register See also Are the Codes on this Website Official? Register January 2012 No 673 124−1 DEPARTMENT OF NATURAL RESOURCES Use no more ... emission rate of the system, whichever is less stringent Enclose all centrifuges, rotary vacuum filters, and any other filters having an exposed liquid surface, where the liquid contains VOCs and...
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The Economic Impact of Cloud Computing on Business Creation, Employment and Output in Europe pdf
Ngày tải lên :
06/03/2014, 21:20
... for the manufacturing sector and also for the sector under the label hotels and restaurants, and this is not surprising given the high number of workers in these aggregate sectors Overall, the ... such as security or privacy (this approach is defined as Software plus Services) Notice that cloud computing implies outsorcing of both software and hardware, therefore it should not be surprising ... the short run Creation of SMEs firms in the short term Legenda: Slow stands for slow adoption of the new technology, white Fast stands for fast adoption Sectors: M (manufacturing), WRT (Wholesale...
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