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1.
This paper presents a new design of mobile micro manipulation system for robotic micro assembly where a compliant piezoelectric actuator based micro gripper is designed for handling the miniature parts and compensation of misalignment during peg-in-hole assembly is done because piezoelectric actuator has capability of producing the displacement in micron range and generates high force instantaneously. This adjusts the misalignment of peg during robotic micro assembly. The throughput/speed of mobile micro manipulation system is found for picking and placing the peg from one hole to next hole position. An analysis of piezoelectric actuator based micro gripper has been carried out where voltage is controlled through a proportional-derivative (PD) controller. By developing a prototype, it is demonstrated that compliant piezoelectric actuator based micro gripper is capable of handling the peg-in-hole assembly task in a mobile micro manipulation system. 相似文献
2.
This paper mainly focuses on the development of pressure tracking control logic of electro-hydraulic actuators for vehicle application. This is done to improve and ensure the performance of a precise lower-level controller for evolving modern shift control logic. The required performance is obtained by hysteresis model-based feed-forward control and additional feedback control. The hysteresis and the time delay, which adversely affect pressure control, are well known nonlinear behaviors in electro-hydraulic actuators. In order to cope with the hysteresis, a novel hysteresis model is proposed based on a physical phenomenon. A mathematical model based on a characteristic curve obtained in preliminary experiments is presented using only one tuning parameter, and this model can be inverted easily to construct a feed-forward controller. In addition, a feedback controller is designed considering the stability margin of a time delay system. The feedback control inputs ensure compensation of the feed-forward errors caused by model error and uncertainty. The proposed controller is designed to lower computational cost considering applicability for production vehicles. As a result, the developed pressure controller is applied to a transmission control unit of a production vehicle and verified experimentally for various driving scenarios. 相似文献
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介绍了一种基于高性能浮点DSP芯片TMS320C32、CPLD芯片XC95288和A/D采样芯片AD976组成的多路采集系统的工作原理以及设计方法。通过对第一路施加特殊的电压量,在CCS开发环境下读取采样缓冲区的值,并利用Matlab对采样数据进行了全波傅氏变换。此外,该系统已在继电保护中得到广泛应用,实践表明,该系统能较好地解决多路模拟量的采集,并确保了采样数据的安全可靠性。 相似文献
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Polymer networks in which poly(propylene imine) dendrimers (Astramol?) are connected to each other by linear polytetrahydrofuran (polyTHF) segments, were prepared by two methods. The first method was a one‐step procedure in which bifunctionally living polyTHF, obtained by initiation of the THF polymerization with trifluoromethane sulfonic anhydride (triflic anhydride), was reacted with an amino‐dendrimer. This reaction was very fast but did not allow formation of the end products. The second method was a two‐step procedure. In a first step, living polyTHF, prepared with acryloyloxybutyl triflate as initiator, was grafted on an amino‐dendrimer, to form a star‐like, acrylate‐terminated polyTHF multi‐macromonomer with the dendrimer as core. In a second step, networks were obtained by Michael addition between the acrylate end‐groups and unreacted amino‐groups of the dendrimer. This cross‐linking reaction occurred spontaneously upon heating of the solution of the multi‐macromonomer with gelation times varying from a few minutes to a few hours, depending on the temperature and the composition of the prepolymers. With this method it was possible to prepare networks in the form of coatings or films. © 2003 Society of Chemical Industry 相似文献
7.
报导一种模糊逻辑控制系统的建模与优化方法。以此方法设计的模糊逻辑控制器,用于双波长稳频CO2激光器的控制得到令人满意的结果。 相似文献
8.
Panagiotis N. Zarros Myung J. Lee Tarek N. Saadawi 《Journal of Network and Systems Management》1994,2(4):361-382
In this paper, an algorithm to determine the set of packets generated continuously and periodically from different participants that are arriving at a node either for mixing at the master of a conference, or for simply playing back at a regular participant of a conference, is proposed. The essence of the algorithm is to estimate the expected packet arrival time (or reference time) for each participant. With the reference time at hand, the maximum jitter and the optimum waiting time for a mixer to wait packets from all participants can be determined. An enhancement to improve synchronization which deals with the estimation of the time offsets between the individual periods of the sources and the period of the receiver is also presented. The error of the proposed algorithm is enumerated by the Chernoff bound and demonstrated by simulation and is shown to be acceptable in practical application. The algorithm can also be employed when traffic sources operate with different periods. 相似文献
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阐述了城域光网络(MON)技术的出现背景、定义、技术方案和特点,以及与现有城域基础设施的比较,突出说明了其应用上的竞争优势。最后介绍了MON的现状和前景展望。 相似文献