Modelling of robotic manipulators

This thesis explores the different aspects of robotic manipulator modelling and covers both the dynamic and the kinematic issues for the purpose of improving the overall manipulator accuracy. It is shown that the modelling should not stop at producing the model, but rather the model should be validated. The thesis presents a description of the modelling process and examines the three most important formulations for dynamic modelling. A comparison of their performance and ease of use is made, both for manual and computer assisted implementation. Three commercial computer modelling packages are also described and compared with regard to their performance and ease of use for robotic manipulator modelling. It is shown that some software development is required to make the packages easy to use for manipulator specific modelling. As part of this work, one such development was a programme written as a back end to AUTOLEV. This combination provides a powerful tool for dynamic modelling and simulation of manipulators. A more integrated computer aided engineering approach is also discussed through modelling a large industrial manipulator using a geometric modelling package along with another dynamic modelling and simulation program. This approach is very efficient in providing useful information which is difficult to otherwise obtain from direct measurements. The thesis emphasises validation as part of the modelling process. A model does not have to be an exact mathematical description of the manipulator, inclusive of all characteristics, but rather a valid description for the intended use. It is shown that a manipulator model can be split into several joint models and validation performed on each using a parameter estimation technique. It is also shown that friction parameter tuning produces acceptable parameter values for a valid model of a Puma 560 manipulator

Tracking moving optima using Kalman-based predictions

The dynamic optimization problem concerns finding an optimum in a changing environment. In the field of evolutionary algorithms, this implies dealing with a timechanging fitness landscape. In this paper we compare different techniques for integrating motion information into an evolutionary algorithm, in the case it has to follow a time-changing optimum, under the assumption that the changes follow a nonrandom law. Such a law can be estimated in order to improve the optimum tracking capabilities of the algorithm. In particular, we will focus on first order dynamical laws to track moving objects. A vision-based tracking robotic application is used as testbed for experimental comparison

3-uniform hypergraphs: modular decomposition and realization by tournaments

Let $H$ be a 3-uniform hypergraph. A tournament $T$ defined on $V(T)=V(H)$ is a realization of $H$ if the edges of $H$ are exactly the 3-element subsets of $V(T)$ that induce 3-cycles. We characterize the 3-uniform hypergraphs that admit realizations by using a suitable modular decomposition

Online and Collaborative Learning Design model based on IMS-LD to Stimulate Collaborative Learning in E-learning Environments

In the e-learning field, there is an urgent need for the sharing, reuse and design of online courses as learning objects. However, in the vast majority of cases, e-learning courses are built in a manner that not stimulating cooperation, interaction, and collaborative learning. The primary aim of this paper is to develop a strategy for constructing learning objects, strategy targeted at supporting instructors in designing educational contents in order to promote collaborative learning in e-learning environments. A key challenge in this work is the definition of a new method of learning design of e-learning contents to stimulate collaborative learning. In addition, we introduce a general model of online and collaborative learning design. Model is based on the methods of instructional design and Educational Modeling Languages, particularly the IMS-LD specification. Firstly, the paper presents the online and collaborative design process of a content based on a life cycle adapted. Then, the paper describes the steps of the modeling process of content. Finally, the paper exposes the adopted technical choices and a first prototype is set up to provide a subjective evaluation of the new framework

Numerical investigation of the nanoparticles nature effect on the MHD behavior in a square cavity with a metallic obstacle

In this paper, a study is conducted to determine numerically the effect of the nanoparticles nature (Al2O3, CuO, and Fe3O4) on the thermo-magnetohydrodynamic behavior of a nanofluid in a square cavity with a circular obstacle. The left wall of this cavity is movable and provided with a cold temperature (Tc) and the right wall is exposed to a hot temperature (Th). However, the upper and lower walls are considered adiabatic. The purpose of this paper is to highlight the effect of aluminum dioxide, copper oxide, and iron trioxide nanoparticles on the thermal and hydrodynamic behavior under the influence of different volume fractions(0 ≤ φ ≤ 0.1), different Hartmann numbers (0 ≤ Ha ≤ 75) and Richardson number (0 ≤ Ri ≤5). The system of governing équations was solved by the finite element method adopting the Galerkine discretization. The obtained results showed that the CuO nanoparticles improve the heat transfer at the fluid and obstacle, in addition, the increase of Hartmann number reduces the heat capacity, especially with the use of Fe3O4 nanoparticles. This study falls within the context of improving the cooling rate of industrial equipment.