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Manual monitoring and seam tracking through watching weld pool images in real-time, by naked eyes or by industrial TV, are experience-depended, subjective, labor intensive, and sometimes biased. So it is necessary to realize the automation of computer-aided seam tracking. A PAW (plasma arc welding) seam tracking system was developed, which senses the molten pool and the seam in one frame by a vision sensor, and then detects the seam deviation to adjust the work piece motion adaptively to the seam position sensed by vision sensor. A novel molten pool area image-processing algorithm based on machine vision was proposed. The algorithm processes each image at the speed of 20 frames/second in real-time to extract three feature variables to get the seam deviation. It is proved experimentally that the algorithm is very fast and effective. Issues related to the algorithm are also discussed. 相似文献
104.
R. Sarathi 《应用聚合物科学杂志》2002,83(13):2843-2849
In the present work tracking phenomena were studied with high‐density polyethylene (HDPE) materials under dc voltage, with NH4Cl and acid rain as contaminants. It was determined that the tracking time of the material depends on the conductivity and flow rate of the contaminant. Furthermore, physicochemical analysis by wide‐angle X‐ray diffraction studies, differential scanning calorimetry, and luminescence spectroscopy was carried out, whereupon it was concluded that the tracking process is a surface‐degradation process. © 2002 Wiley Periodicals, Inc. J Appl Polym Sci 83: 2843–2849, 2002; DOI 10.1002/app.10260 相似文献
105.
106.
In this paper, a decentralized adaptive tracking control is developed for a second-order leader–follower system with unknown dynamics and relative position measurements. Linearly parameterized models are used to describe the unknown dynamics of a self-active leader and all followers. A new distributed system is obtained by using the relative position and velocity measurements as the state variables. By only using the relative position measurements, a dynamic output–feedback tracking control together with decentralized adaptive laws is designed for each follower. At the same time, the stability of the tracking error system and the parameter convergence are analyzed with the help of a common Lyapunov function method. Some simulation results are presented to validate the proposed adaptive tracking control. 相似文献
107.
《自动化学报》2014,(11)
A nonlinear control is proposed for trajectory tracking of a 6-DOF model-scaled helicopter with constraints on main rotor thrust and fuselage attitude. In the procedure of control design, the mathematical model of helicopter is simplified into three subsystems: altitude subsystem, longitudinal-lateral subsystem and attitude subsystem. The proposed control is developed by combining the sub-controls for the corresponding subsystems. The sub-controls for altitude subsystem and longitudinal-lateral subsystem are designed with hyperbolic tangent functions to satisfy the constraints; the sub-control for attitude subsystem is based on backstepping technique such that fuselage attitude tracks the virtual control for longitudinallateral subsystem. It is proved theoretically that tracking errors are ultimately bounded, and control constraints are satisfied.Performances of the proposed controller are demonstrated by simulation results. 相似文献
108.
《Automatica》2014,50(11):2737-2764
Adaptive control is a control methodology capable of dealing with uncertain systems to ensure desired control performance. This paper provides an overview of some fundamental theoretical aspects and technical issues of multivariable adaptive control, and a thorough presentation of various adaptive control schemes for multi-input–multi-output systems, literature reviews on adaptive control foundations and multivariable adaptive control methods, and related technical problems. It covers some basic concepts and issues such as certainty equivalence, stability, tracking, robustness, and parameter convergence. It discusses some of the most important topics of adaptive control: plant uncertainty parametrization, stable controller adaptation, and design conditions for different adaptive control schemes. The paper also presents a detailed study of well-developed multivariable model reference adaptive control theory and design techniques. It provides an introduction to multivariable adaptive pole placement and adaptive nonlinear control, and it concludes by identifying some open research problems. 相似文献
109.
Giuseppe Placidi Danilo Avola Marco Ferrari Daniela Iacoviello Andrea Petracca Valentina Quaresima Matteo Spezialetti 《Computer methods and programs in biomedicine》2014
Background and objective
The degeneration of the balance control system in the elderly and in many pathologies requires measuring the equilibrium conditions very often. In clinical practice, equilibrium control is commonly evaluated by using a force platform (stabilometric platform) in a clinical environment.In this paper, we demonstrate how a simple movement analysis system, based on a 3D video camera and a 3D real time model reconstruction of the human body, can be used to collect information usually recorded by a physical stabilometric platform.Methods
The algorithm used to reconstruct the human body model as a set of spheres is described and discussed. Moreover, experimental measurements and comparisons with data collected by a physical stabilometric platform are also reported. The measurements were collected on a set of 6 healthy subjects to whom a change in equilibrium condition was stimulated by performing an equilibrium task.Results
The experimental results showed that more than 95% of data collected by the proposed method were not significantly different from those collected by the classic platform, thus confirming the usefulness of the proposed system.Conclusions
The proposed virtual balance assessment system can be implemented at low cost (about 500$) and, for this reason, can be considered a home use medical device. On the contrary, astabilometric platform has a cost of about 10,000$ and requires periodical calibration. The proposed system does not require periodical calibration, as is necessary for stabilometric force platforms, and it is easy to use. In future, the proposed system with little integration can be used, besides being an emulator of a stabilometric platform, also to recognize and track, in real time, head, legs, arms and trunk, that is to collect information actually obtained by sophisticated optoelectronic systems. 相似文献110.
This paper deals with an original micro aerial vehicle (MAV) design, the Omnicopter MAV. It has two central coaxial rotors with fixed-pitch propellers and three perimeter mounted ducted fans with servo motors performing thrust vectoring. Compared with traditional rotary wing MAVs that have inherent underactuation, the Omnicopter possesses some advantages in mobility, for example, lateral translation with zero attitude and hover with nonzero attitude. The trajectory tracking control design, global stability analysis, and control allocation are demonstrated through numerical simulation. The advantage of zero attitude translation is illustrated through experimental results. 相似文献