3,309 research outputs found
An experimental study on improving hybrid position/force control of a robot using time delay control
No full textRobot position/force control has been a difficult task owing to the interaction between a robot and the environment. In addition to the dynamic instability, the interaction causes the following problems: (1) the dynamic coupling effect of the robot; (2) positional disturbance due to the uncertain surface of the environment with which the robot is in contact; and (3) vibration at steady state. To solve these problems, time delay control (TDC), well known for its robustness to plant uncertainties and disturbances, has been used as a baseline control law for hybrid control. In conjunction with TDC, the following three ideas were also used. (i) To reduce the dynamic coupling, a more accurate mass matrix was used instead of the constant mass matrix. (ii) To reject positional disturbance from the environment, force derivatives instead of position derivatives were used in the TDC law. (iii) Finally, to reduce the amplitude of the vibration at steady state, a novel scheme was adopted to enhance the resolution of A/D conversion for the force sensor. Experiments showed obvious improvements in the quality of the hybrid control, thereby clearly demonstrating the effectiveness of TDC with the proposed ideas. Copyright (C) 1996 Elsevier Science Ltd
Slope Stability Analysis by Optimization Technique considering Unsaturated Strength and SWCC
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Importance Sampling for a Markov Modulated Queuing Network with Customer Impatience until the End of Service
No full textFor more than two decades, there has been a growing of interest in fast simulation techniques for estimating probabilities of rare events in queuing networks. Importance sampling is a variance reduction method for simulating rare events. The present paper carries out strict deadlines to the paper by Dupuis et al for a two node tandem network with feedback whose arrival and service rates are modulated by an exogenous finite state Markov process. We derive a closed form solution for the probability of missing deadlines. Then we have employed the results to an importance sampling technique to estimate the probability of total population overflow which is a rare event. We have also shown that the probability of this rare event may be affected by various deadline values.Importance Sampling, Queuing Network, Rare Event, Markov Process, Deadline
Fabrication, mechanical and fluoride release properties of polymer-kaolinite nanocomposite resins.
No full textCognitive simulation of operators diagnostic strategies in nuclear power plants
No full textThis paper describes an approach to simulate operators diagnostic strategies under emergency situation of nuclear power plants. To assess operators cognitive workload during the diagnosis, we have developed a diagnostic model, which is an embedded module of a task simulation analyzer, SACOM. This model is based on a blackboard architecture and uses four types of diagnostic agents. The diagnostic agents can simulate typical diagnostic strategies used by human operators: i.e., data-driven search, symptomatic search, hypothesis-driven search, and topographic search. The model is developed using a G2 expert system tool
Demonstration of 25.78-Gb/s, 20-km reach WDM PON using directly-modulated bandwidth-limited RSOA
No full textsj-docx-1-css-10.1177_24705470231164920 - Supplemental material for Intravenous Reelin Treatment Rescues Atrophy of Spleen White Pulp and Correlates to Rescue of Forced Swim Test Immobility and Neurochemical Alterations Induced by Chronic Stress
No full textSupplemental material, sj-docx-1-css-10.1177_24705470231164920 for Intravenous Reelin Treatment Rescues Atrophy of Spleen White Pulp and Correlates to Rescue of Forced Swim Test Immobility and Neurochemical Alterations Induced by Chronic Stress by B.S. Reive, Jenessa N. Johnston, Carla L. Sánchez-Lafuente, Lucy Zhang, Aland Chang, Jasmine Zhang, Josh Allen, Raquel Romay-Tallon, Lisa E. Kalynchuk and Hector J. Caruncho in Chronic Stress</p
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