Decentralized adaptive coordinated control of multiple robot arms without using a force sensor

This paper presents a distributed adaptive coordinated control method for multiple robot arms grasping a common object. The cases of rigid contact and rolling contact are analyzed. In the proposed controller, the dynamic parameters of both object and robot arms are estimated adaptively. The desired motions of the robot arms are generated by an estimated object reference model. The control method requires only the measurements of the positions and velocities of the object and robot arms, but not the measurements of forces and moments at contact points. The asymptotic convergence of trajectory is proven by the Lyapunov-like Lemma. Experiments involving two robot arms handling a common object are shown.     

An adaptive tracking problem for a family of retarded time-delay plants

Most of the existing switching control techniques are developed specifically for finite-dimensional linear time-invariant (LTI) systems. In many practical applications, however, it is essential to take time delay into consideration in the modelling as the control system can be highly sensitive to delay. In this paper, a multi-model switching control algorithm is proposed for retarded time-delay systems. It is assumed that the plant is represented by a family of known multi-input multi-output, observable, LTI models with multiple delays in the states, and that corresponding to each model in the known family, there exists a high-performance finite-dimensional LTI controller. In addition, it is supposed that a bound on the magnitude of the external inputs and disturbances is available. It is then shown that the proposed switching controller can stabilize the uncertain system, and that under some mild conditions, output tracking can be achieved in the given problem setting. Copyright © 2007 John Wiley & Sons, Ltd.     

A novel distributed approach to robust fault detection and identification

In this paper, we propose a novel distributed robust fault detection and identification (RFDI) scheme for a class of nonlinear systems. Firstly, a detection and identification estimator—robust fault tracking approximator (RFTA) is designed for online health monitoring. A novel feature of the RFTA is that it can simultaneously detect and accurately identify the shape and magnitude of the fault and disturbance. Moreover, it takes less online training time compared with the traditional neural network based fault diagnosis schemes. For some distributed systems, a network of distributed estimators is constructed where the RFTA is embedded into each estimator. Then we use consensus filter to filter the outputs of each estimator. One of the most important merits of the consensus filter is that its outputs can dramatically improve the accuracy of fault detection and identification. Next, the stability of the distributed RFDI scheme is rigorously investigated. Finally, two numerical examples are given to illustrate the feasibility and effectiveness of the proposed approach.     

Pedestrian detection and tracking at crossroads

This paper presents a system that can perform pedestrian detection and tracking using vision-based techniques. A very important issue in the field of intelligent transportation system is to prevent pedestrians from being hit by vehicles. Recently, a great number of vision-based techniques have been proposed for this purpose. In this paper, we propose a vision-based method, which combines the use of a pedestrian model as well as the walking rhythm of pedestrians to detect and track walking pedestrians. Through integrating some spatial and temporal information grabbed by a vision system, we are able to develop a reliable system that can be used to prevent traffic accidents happened at crossroads. In addition, the proposed system can deal with the occlusion problem. Experimental results obtained by executing some real world cases have demonstrated that the proposed system is indeed superb.     

A global output-feedback controller for stabilization and tracking of underactuated ODIN: A spherical underwater vehicle

This paper presents a method to design an output-feedback controller that simultaneously solves global asymptotic stabilization and tracking of an underactuated omni-directional intelligent navigator—a spherical underwater vehicle moving in a horizontal plane (i.e. at a constant depth). The vehicle does not have a sway actuator and has only position and orientation measurements available. The control development is based on Lyapunov's direct method, backstepping technique and use of interconnected structure of the vehicle dynamics. Numerical simulations demonstrate the results.     

Fixed mesh front‐tracking methodology for finite element simulations

A direct front‐tracking method using an Eulerian–Lagrangian formulation is developed in two space dimensions. The front‐tracking method is general in that it can track any type of interface once its local velocity is specified or has been determined by calculation. The method uses marker points to describe the interface position and tracks the interface evolution on a fixed finite‐element mesh, including growth, contraction, splitting and merging. Interfacial conditions are applied directly at the interface position. The method is applied to three scenarios that involve different interface conditions and are based on energy and mass diffusion. The three calculations are for the dendritic solidification of a pure substance, the cellular growth of an alloy, and the Ostwald ripening of silica particles in silicon. Numerical results show that very complicated interface morphologies and topological changes can be simulated properly and efficiently. Copyright © 2004 John Wiley & Sons, Ltd.     

Optimization of support positions to maximize the fundamental frequency of structures

In this paper, the position optimization of simple supports is implemented to maximize the fundamental frequency of a beam or plate structure. Both elastic and rigid supports are taken into account. First, the frequency sensitivity with respect to the movement of a simple support is derived using the discrete method. By means of the shape functions of the finite element method, closed‐form sensitivity formulations are developed straightforwardly. Then, a heuristic approach, called evolutionary shift method, is presented for optimizing support positions with a fixed grid mesh scheme. Based on the design sensitivity analysis, the support with the highest efficiency is shifted in priority along the elementary edges with the interval (step) of the elementary size. To facilitate the convergence of the process, the interpolation technique is employed to evaluate the solution more accurately. Finally, three numerical examples are presented to demonstrate the validity of the sensitivity analysis and the effectiveness of the optimization method. Copyright © 2004 John Wiley & Sons, Ltd.     

Individual and structural origins of friendship and social position among professionals.

Friendship affects individual and organizational well-being through direct relations, social positions, and complex network structures. In this study, the authors use longitudinal data from 2 groups of master's of business administration students to increase understanding of how friendship networks develop. The authors propose and test a dynamic model in which attribute similarity facilitates dyadic friendship ties, as well as similar network centrality and social position; early friendship increases later similarity in structural position and centrality; and early structural similarity enhances the likelihood of future friendship. Findings largely supported the model, demonstrating how homophily and early social contacts can jointly shape maturing friendship networks. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

连铸钢坯质量的原位统计分布分析研究

采用原位统计分布分析技术得到与样品原位置相对应的数以万计原始信号并对其进行系统解析，实现不同质量连铸钢坯试样的疏松度、均匀度以及夹杂物含量的定量表征。准确计算了连铸钢坯试样疏松度、碳元素的最大偏析度。提出铸坯各原位置成分含量的权重比率方法用以表征材料的均匀度，并提供了统计分布允许差范围内（C0±R）所占权重比率以及权重比率为95%置信度时，中位值置信扩展率（K）等2种判断模式。该方法以测量信息的原始性、原位性及统计性为特征，反映了连铸钢坯较大尺度范围内各化学组成及其形态的定量统计分布规律。采用上述方法可以     

制造业跟踪系统解决方案剖析

NetLinx技术的发展，使得跟踪系统发生了划时代的飞跃，在制造业上的应用更加广泛。本文以一间显像管厂为例，详细介绍了跟踪系统在制造业上的应用。