How to Control Robots Interacting with Dynamic Environment

The goal of this paper is to shed light on the control problem of constrained robot motion from the aspect of the dynamical nature of the environment with which the robot is in contact. Therefore, the criticism of traditional hybrid control which allows position/force feedback loops to split into independent control with respect to position and force, is not the main point we want to make. Reference to the papers written by the founders of hybrid control and their numerous followers served only to better understand the reason and motivation for suggesting a different approach to control of robots interacting with environment.The paper has a predominantly review character, based on recently published work. It also contains some new, unpublished results in the framework of the unified approach to the position/force control of robots, proposed by the present author and his co-workers. By pointing to the possibility of introducing an environment dynamics in the contact tasks of the machining type, the author emphasizes that the proposed dynamically interactive control can be applied to a completely different class of tasks, in which a contact is made between the system (constructions or structure) and very specific kinds of dynamic environments.     

Virtual Mechatronic/Robotic laboratory – A step further in distance learning

The implementation of the distance learning and e-learning in technical disciplines (like Mechanical and Electrical Engineering) is still far behind the grown practice in narrative disciplines (like Economy, management, etc.). This comes out from the fact that education in technical disciplines inevitably involves laboratory exercises and this fact drastically increases the complexity of a potential e-learning system. New approach and new specific knowledge are needed to develop such a system. We expect to meet the requirements of distance learning by developing the software-based laboratory exercises, i.e., a virtual laboratory. To fully substitute a physical system like laboratory equipment, one must emulate its full dynamics. The mathematical model in the form of differential equations will be applied to calculate dynamics and provide the data that would otherwise be measured on a physical system – this means simulation.     

Human-and-Humanoid Postures Under External Disturbances: Modeling,Simulation, and Robustness. Part 2: Simulation and Robustness

The sophisticated method for mathematical modeling of humanoid robots formulated in Part 1 of this paper is applied here to the dynamic task of keeping a posture under disturbance, which is equally important to humans and humanoid robots. The idea of this work is to develop and realize a simulator tool for dynamic analysis of human-or-humanoid behavior under disturbances. To show the potentials and verify this tool, we comparatively analyze the robustness of some postures to external disturbance. At this stage of research we do not conduct real experiments with humans/humanoids but try to verify our simulation tool by relying on available experience. Therefore, the postures for comparison are taken from everyday life and from sports: upright standing, squat posture, and three karate postures. As the external disturbance we choose an impulse and a permanent force, both with variable direction and magnitude.     

Analysis of switched quantizer based on the quadratic spline functions

In this paper, an approximation of the optimal compressor function using the quadratic spline functions with 2L?=?8 segments is described. Since the quadratic spline with 2L?=?8 segments provides better approximation of the optimal compression function than quadratic spline with 2L?=?4 segments, capitalizing on the benefits of the obtained spline approximation, quantizer designing process is firstly performed for the so assumed number of segments and the Laplacian source of a unit variance. Then, to enhance the usability of the proposed model, the switched quantization technique is applied and a beneficial analysis is derived, providing insight in the robustness of the proposed quantizer performances with respect to the mismatch in designed for and applied to variances. Reached quality has been compared to another model from the literature, and it has been shown that the proposed model outperforms the previous model by almost 1.3?dB.     

Estimation of FAO Blaney-Criddle b Factor by RBF Network

This technical note presents the application of a Radial Basis Function (RBF) network to estimate the FAO Blaney-Criddle b factor. Tabular b values are given in the United Nations Food and Agriculture Organization Irrigation and Drainage Paper Number 24. The b values obtained by the RBF network are compared to the appropriate b values produced using regression equations. The RBF network predicted b values better than the regression equations. An example is given to illustrate the simplicity and accuracy of the RBF network for b factor estimation.     

Connectionist approaches to the control of manipulation robots at the executive hierarchical level: An overview

One of the most interesting and important properties of connectionist systems is their ability to control sophisticated manipulation robots, i.e. to produce a large number of efficient control commands in real-time. This paper represents an attempt to give a comprehensive report of the basic principles and concepts of connectionism in robotics, with an outline of a number of recent algorithms used in learning control of a manipulation robot. A major concern in this paper is the application of neural networks for off-line and on-line learning of kinematic and dynamic relations used in robot control at the executive hierarchical level.     

Survival of Listeria monocytogenes and Escherichia coli O157:H7 during sauerkraut fermentation

Sauerkraut was produced from shredded cabbage, as is typical in the United States, and from whole head cabbages, which is a traditional process in parts of Eastern Europe. The sauerkraut was inoculated with five strain mixtures of Escherichia coli O157:H7 and Listeria monocytogenes, and the populations of these bacteria, as well as lactic acid bacteria, pH, and titratable acidity, were monitored over the course of fermentation. Fermentation variables were temperature (18 and 22 degrees C) and salt concentration (1.8, 2.25, and 3%). For most of the analyses, the type of cabbage processing was a significant factor, although within cabbage type, neither salt nor fermentation temperature had significant effects. The final pH of the whole-head sauerkraut was lower than the shredded sauerkraut, but the titratable acidity was significantly higher in the shredded sauerkraut. E. coli O157:H7 and L. monocytogenes persisted in the brines for most of the fermentation, although at the end of the fermentations (15 days for shredded, 28 days for whole head), neither pathogen had detectable populations. E. coli populations decreased more rapidly in the shredded sauerkraut even though the pH was higher because of the higher total acidity in the shredded sauerkraut. Acid-tolerant strains of E. coli and L. monocytogenes were isolated from both shredded and whole-head sauerkraut at different salt concentrations and temperatures after 15 days of fermentation and could be detected at 35 days in the wholehead sauerkraut.     

Analysis of the influence of actuator model complexity on manipulator control synthesisAnalyse des einflusses der komplexität des modells von aktuatoren auf die synthese der manipulator-steuerung

The paper considers the influence of the complexity of the mathematical model of actuators on control synthesis and simulation of movements on a digital computer. It presents the results of the simulation of dynamics of two mechanical manipulation configurations powered by electromechanical and hydraulic actuators.     

Mathematical model of multiple manipulators: cooperative compliant manipulation on dynamical environments

The mathematical model of multiple non-redundant rigid robot manipulators performing cooperative work on a single dynamical object of which the motion is constrained by a dynamical environment is presented. The coordinated robots have to simultaneously move the object along a predetermined known trajectory on the constraint environment, exert a prespecified contact force on the environment, and regulate the internal force in the object. The manipulator dynamics, the object dynamics and the environment dynamics are taken into consideration, together with the material constraints imposed on the system (contact conditions between robots and object and between object and environment), and program constraints (specified internal forces, contact forces, object motion). The modelling procedure is illustrated by an example.