移动探查机器人监督式控制器的设计与实现

本文介绍了一个野外探查机器人监督式控制器的设计与实现,介绍了机器人控制器的三种传统控制方法并比较了其优缺点,论证了在具体的机器人上应用监督式控制的优点,分析和讨论了其软硬件结构和功能,最后对这个具体的项目的控制器设计实现进行了总结和展望。     

三自由度机械臂的继电式控制

本文介绍了一个具有三个自由度机器人手臂的继电式控制器的设计方法。通过公式,表达了该机器人手臂的数学模型、继电式控制器和其电气拖动装置的特征。利用VAX11/750计算机进行继电式控制器开关时间的计算,以及手臂移动的模拟。而利用现有的M6800单板机作继电式控制器,对一台试验性机器人手臂进行了实际的控制试验。这台试验性机器人手臂同数学模型机是相似的。这个试验,证实了实际结果同模型机器人的计算结果是相当一致的。     

油浸式变压器内部检测球形机器人的深度悬停控制研究

为实现设计的油浸式变压器内部检测机器人在实际作业过程中能针对深度方向某具体点进行观测,对机器人的深度悬停控制进行研究.通过对机器人控制策略的分析,根据水下机器人动力学理论,建立机器人在变压器油特殊介质的动力学模型.基于鲁棒反演控制方法及滑模自适应控制理论,提出一种鲁棒反演滑模控制方法,采用模糊控制器设计滑模面切换增益,以削弱不确定干扰带来的系统抖振,并通过Lyapunov理论分析证明控制器稳定性.解决了机器人在变压器油中因耦合、外界扰动等造成的深度悬停定点过程自旋及抖动问题,仿真及实验表明了所提出控制器的有效性.     

开放式机器人控制器综述

本文对开放式机器人控制器的研究进行了概括和总结,综合叙述了开放式机器人控制 器的思想及优点,从控制结构、硬件和软件实现的角度总结了已有的研究工作,指出了开放 式机器人控制器的发展方向．     

机器人PID控制算法研究与实现

文中描述了如何使用PID控制器实现对巡线机器人的行走控制。针对依靠双轮直流电机驱动的机器人平台,依靠引导线进行行走的特点,设计了基于PID控制器的行走驱动算法,实现对机器人行走的控制。在算法中对比、整合PID控制器中三个参数,使其在控制过程中协调发挥作用,实现在离散状态下机器人行走巡线的精确控制。该算法多次应用在全国职业技能大赛机器人应用项目中,通过实践表明该算法具有适应性强、控制精度高、调整误差小的优点。     

教学型机器人单片机控制系统的设计

介绍了教学型机器人的控制系统。该系统采用MCS51系列单片机为中央控制器，实现对头、爪、脚、肩、臂和语音的控制。着重讨论了接口电路的原理和设计，也介绍了机器人关节的工作原理和控制程序设计。     

机器人控制器与被控机器人的通讯方法研究

机器人控制器与被控机器人之间的空间距离越来越远，特别是在危险，太空等人类无法到达的环境里，机器人控制器与被控机器人之间如何实现可靠的通信变得越来越重要了，本文介绍了三种方法来实现机器人控制与被控机器人之间的中靠通讯。     

电动喷涂机器人中的步进电机控制

本文详细介绍了步进电机的位置控制、速度控制以及连续轨迹示教机器人中的关键技术－－轨迹再现控制。同时阐明了用8031单片机设计步进电机控制器的原理和实现方法。     

基于USB的通用机器人控制器

本文介绍了一种通用教学机器人控制器。该控制器采用PC DSP的主从式 2级CPU控制结构 ,CPU之间通过USB进行通讯。控制器的硬件采用模块化结构设计 ,控制器的软件使用通用化的机器人数学模型来描述机器人对象 ,因而能够适用于多种不同类型的开链结构的机器人的控制。     

基于无模型自适应的外骨骼式上肢康复机器人主动交互训练控制方法

设计了一种基于无模型自适应的外骨骼式上肢康复机器人主动交互训练控制方法.在机器人与人体上肢接触面安装力传感器采集人机交互力矩信息作为量化的主动运动意图,设计了一种无模型自适应滤波算法使交互力矩变得平滑而连贯;以人机交互力矩为输入,综合考虑机器人末端点与参考轨迹的相对位置和补偿力的信息,设计了人机交互阻抗控制器,用于调节各关节的给定目标速度;设计了将无模型自适应与离散滑模趋近律相结合的速度控制器完成机器人各关节对目标速度的跟踪.仿真结果表明,该控制方法可以实现外骨骼式上肢康复机器人辅助患者完成主动交互训练的功能.通过调节人机交互阻抗控制器的相应参数,机器人可以按照患者的运动意图完成不同的主动交互训练任务,并在运动出现偏差时予以矫正.控制器在设计实现过程中不要求复杂准确的动力学建模和参数识别,并有一定的抗干扰性和通用性.     

On a Parametrization of Purifications of a Qubit

This work provides, constructively, explicit one–one parametrizations of all purifications of a mixed state in dimension 2 and all joint purifications, if any, of two mixed states in the same dimension. The former is parametrized by SO(3, R), while the latter is parametrized by SO(2, R), except when the state being purified is already pure. These parametrizations are derived without any passage to the spectral decompositions of the state(s) being purified. Using this, we show how to calculate certain measures of quantum information. The appendix considers an alternative one–one parametrization of mixed states in C² C², which provides a different explicit construction of joint purifications. PACS: 03.67-a; 03.67-Hk; 03.67-Lx     

Control of Motion of a Body in Formation of a Channel in a Fluid

Mechanics of the formation of a channel by a head of a bending body is considered. Equations are derived of the motion of the body in the channel with its simultaneous formation, which contain the positive feedback. Control is described of various modes of motion and also the transition from one mode to another, including the transition to the motion on account of the feedback. The clarified interrelation of the pressure of the body, its speed, and the responses of the fluid makes it possible to describe the mechanics of the formation and deformation of the channel, which denies the possibility of motion of the body on account of the positive feedback.     

Design of a pH titrator as a component part of a personal computer

Personal computers are becoming almost as common as pocket calculators. In particular, their use in laboratories for measurement and control is growing. The next step after computer-controlled instruments is the development of a personal computer with an instrument as a component part. An automatic pH titrator has been designed. The system presented is based on an Apple Ile. Two plug-in cards are used. One card integrates analogue measurement and analogue-to-digital conversion. The other card controls a syringe driven by a stepper motor. The software control system for the personal pH meter is also described.     

On a nonlinear problem of a sequential control with a parameter

The problem of evasion of a group of moving points from a nonlinear controlled object, whose goal is consecutively approach these points in a prescribed order, is analyzed. The movement of each point is defined uniquely by a scalar parameter chosen at the initial time instant. The controlled object minimizes a certain cost function, and the group of the points, acting cooperatively, maximize this cost function by choosing the parameters. Necessary optimality conditions for parameters are obtained. A model problem of an evasion of moving points from a vehicle is solved.     

Three-Link Mechanism as a Model of a Person on a Swing

Journal of Computer and Systems Sciences International - We model movements of a person swinging on a swing. We consider a flat three-link hinged mechanism as the main mechanical model of the...     

A design of a controller as a component of a robotic manufacturing system

This paper specifies the functional design of a robot or machine tool controller suitable for inclusion in robotic manufacturing systems. The principle interest is the unmanned manufacturing cells which are being developed as major components of new manufacturing facilities. The functional specifications are motivated by recent experiences with the creation of a prototype cell for an open die forging process. There are two key technical design requirements. The first relates to the robot or machine tool being controlled. The controller must direct the machine actions, and, for unmanned operation, the controller must receive and process sensor information for process modification and for fault tolerance. The second relates to communication with the central cell computer (the host). The operation of an unmanned system requires a robot communication channel between the host and the controller; the controller must also respond to a variety of instructions transmitted from the host. Additional controller design requirements are imposed by economics. The proposed controller can be used today, and can develop in an evolutionary manner to meet the needs of future manufacturing systems. The evolutionary development is made possible by modular design, organized in a hierarchical manner.     

Location of a boundary for a diffusion equation of a single server queue

A diffusion-equation model of the M/E_s/1 queue is derived from forward Kolmogorov equations for stages. The derivation results in a new boundary condition. Namely, it is established that an abscissa of a reflecting barrier equals minus squared variance coefficient of service time. That result is then obtained for E_r/M/1 and E_r/E_s/1 queues. Its validity is also illustrated for other systems.     

Implementation of a model of a metainformation-controlled editor of information units with a complex structure

This paper describes the model and methods for implementing an extensible tool for editing information with a complex structure with different levels of abstraction and invariance to technological spaces (subject domains) in a common conceptual framework for carriers of this information; this makes it unnecessary to arrange specialized training for these carriers or involve professional intermediaries.     

Algorithmic selection of a disassembly sequence of a component by a wave propagation method

The design of a product for its entire life-cycle is becoming more and more important. Nowadays, a product is designed with significant considerations for its manufacturability, serviceability, its functionality and even for its disassemblability. This is due to the fact that the modern consumers demand products that are not only functional, but also reliable, easy to repair and also environmentally friendly.For maintenance and re-use, the operation sequencing in disassembly process planning needs of reversible operation selecting.We present a new wave propagation disassembly algorithm of the determined component of a product; the given data are the immediate predecessors of each component.We show that the solution exists and that she is unique in the following conditions: the binary matrix of the immediate predecessors is non-symmetrical and the data does not contain a cycle. A tracked down cycle method in the data is also proposed.     

Diffusion of a chemically reactive species of a power-law fluid past a stretching surface

A numerical solution for the steady magnetohydrodynamic (MHD) non-Newtonian power-law fluid flow over a continuously moving surface with species concentration and chemical reaction has been obtained. The viscous flow is driven solely by the linearly stretching sheet, and the reactive species emitted from this sheet undergoes an isothermal and homogeneous one-stage reaction as it diffuses into the surrounding fluid. Using a similarity transformation, the governing non-linear partial differential equations are transformed into coupled nonlinear ordinary differential equations. The governing equations of the mathematical model show that the flow and mass transfer characteristics depend on six parameters, namely, the power-law index, the magnetic parameter, the local Grashof number with respect to species diffusion, the modified Schmidt number, the reaction rate parameter, and the wall concentration parameter. Numerical solutions for these coupled equations are obtained by the Keller-Box method, and the solutions obtained are presented through graphs and tables. The numerical results obtained reveal that the magnetic field significantly increases the magnitude of the skin friction, but slightly reduces the mass transfer rate. However, the surface mass transfer strongly depends on the modified Schmidt number and the reaction rate parameter; it increases with increasing values of these parameters. The results obtained reveal many interesting behaviors that warrant further study of the equations related to non-Newtonian fluid phenomena, especially shear-thinning phenomena. Shear thinning reduces the wall shear stress.