Compliance error compensation technique for parallel robots composed of non-perfect serial chains

The paper presents the compliance errors compensation technique for over-constrained parallel manipulators under external and internal loadings. This technique is based on the non-linear stiffness modeling which is able to take into account the influence of non-perfect geometry of serial chains caused by manufacturing errors. Within the developed technique, the deviation compensation reduces to an adjustment of a target trajectory that is modified in the off-line mode. The advantages and practical significance of the proposed technique are illustrated by an example that deals with groove milling by the Orthoglide manipulator that considers different locations of the workpiece. It is also demonstrated that the impact of the compliance errors and the errors caused by inaccuracy in serial chains cannot be taken into account using the superposition principle.Comment: arXiv admin note: text overlap with arXiv:1204.175

Method of Converting a Resource into a Product

The present invention is concerned in particular with the scheduling of maintenance actions such as washing events for a compressor of a gas turbine. An objective function including fuel/power price forecasts is evaluated/optimised in order to determine the advisability of a washing event. The cost function depends on a state vector comprising both Integer/Boolean and continuous state variables which are interconnected via a set of rules or constraints. Mixed Integer Programming (MIP) is a used for implementing the inventive procedure

Dynamic Modeling of Planar Multi-Link Flexible Manipulators

A closed-form dynamic model of the planar multi-link flexible manipulator is presented. The assumed modes method is used with the Lagrangian formulation to obtain the dynamic equations of motion. Explicit equations of motion are derived for a three-link case assuming two modes of vibration for each link. The eigenvalue problem associated with the mass boundary conditions, which changes with the robot configuration and payload, is discussed. The time-domain simulation results and frequency-domain analysis of the dynamic model are presented to show the validity of the theoretical derivation.publishedVersio

Control of Redundant Flexible Manipulators with Redundancy Resolution

Author's accepted manuscript.© 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.This paper deals with the online control of a redundant flexible link manipulator to achieve minimum oscillations using the redundancy resolution technique. Different redundancy resolution techniques proposed and used for rigid link manipulators are tested for their use in the case of flexible link manipulators. The simulation model of a planar three-link flexible manipulator is used in this study. The redundancy resolution using kinetic energy minimization techniques is compared with the local joint acceleration minimization method to show the advantage of achieving minimum vibrations.acceptedVersio

State-Dependent Probability Distributions in Non Linear Rational Expectations Models

In this paper, we provide solution methods for non-linear rational expectations models in which regime-switching or the shocks themselves may be "endogenous", i.e. follow state-dependent probability distributions. We use the perturbation approach to find determinacy conditions, i.e. conditions for the existence of a unique stable equilibrium. We show that these conditions directly follow from the corresponding conditions in the exogenous regime-switching model. Whereas these conditions are diffcult to check in the general case, we provide for easily verifiable and sufficient determinacy conditions and first-order approximation of the solution for purely forward-looking models. Finally, we illustrate our results with a Fisherian model of inflation determination in which the monetary policy rule may change across regimes according to a state-dependent transition probability matrix.Dans ce papier, nous proposons une méthode de résolution de modèles non linéaires à anticipations rationnelles dans lesquels les changements de régimes ou les chocs eux-même peuvent être "endogènes", c'est-à-dire suivre des distributions de probabilités dépendant de l'état de l'économie. Par une méthode de perturbation, nous trouvons des conditions de détermination, i.e. des conditions d'existence d'un unique équilibre stable. Nous montrons que ces conditions découlent directement des conditions correspondantes dans le modèle à changements de régimes exogènes. Bien que ces conditions soient difficiles à vérifier dans le cas général, nous donnons, dans le cas des modèles à changements de régimes purement tournés vers le futur, des conditions de détermination faciles à calculer et une approximation au premier ordre de la solution. Enfin, nous illustrons nos résultats avec un modèle de Fisher de détermination d'inflation dans lequel la règle de politique monétaire change entre les régimes selon une matrice de transition dépendant de l'état de l'économie

The Gantry-Tau parallel kinematic machine-kinematic and elastodynamic design optimisation

Pubished version of an article in the journal: Meccanica. Also available from the publisher at: http://dx.doi.org/10.1007/s11012-010-9394-9One of the main advantages of the Gantry-Tau machine is a large accessible workspace/footprint ratio compared to many other parallel machines. The optimal kinematic, elastostatic and elastodynamic design parameters of the machine are still difficult to calculate and this paper introduces an optimisation scheme based on the geometric and functional dependencies to define the workspace and first resonance frequency. This method assumes that each link and universal joint can be described by a mass-spring-damper model and calculates the transfer function from a Cartesian force or torque to Cartesian position or orientation. The evolutionary algorithm based on the complex search method is compared to the gradient-based search function in Matlab integrated optimisation toolbox. Kinematic design obtained by optimisation according to this paper gives a 2D workspace/footprint ratio more than 1.66 and first resonance frequency is more than 50 Hz with components of an existing lab prototype at the University of Agder, Norway

CNN-based People Detection in Voxel Space using Intensity Measurements and Point Cluster Flattening

In this paper real-time people detection is demonstrated in a relatively large indoor industrial robot cell as well as in an outdoor environment. Six depth sensors mounted at the ceiling are used to generate a merged point cloud of the cell. The merged point cloud is segmented into clusters and flattened into gray-scale 2D images in the xy and xz planes. These images are then used as input to a classifier based on convolutional neural networks (CNNs). The final output is the 3D position (x,y,z) and bounding box representing the human. The system is able to detect and track multiple humans in real-time, both indoors and outdoors. The positional accuracy of the proposed method has been verified against several ground truth positions, and was found to be within the point-cloud voxel-size used, i.e. 0.04m. Tests on outdoor datasets yielded a detection recall of 76.9 percent and an F1 score of 0.87

Adaptive Backstepping Control of Nonlinear Hydraulic-Mechanical System Including Valve Dynamics

Published version of an article from the journal: Modeling Identification and Control. Also available from publisher: http://dx.doi.org/10.4173/mic.2010.1.3The main contribution of the paper is the development of an adaptive backstepping controller for a nonlinear hydraulic-mechanical system considering valve dynamics. The paper also compares the performance of two variants of an adaptive backstepping tracking controller with a simple PI controller. The results show that the backstepping controller considering valve dynamics achieves significantly better tracking performance than the PI controller, while handling uncertain parameters related to internal leakage, friction, the orifice equation and oil characteristics

Tail Removal Block Validation: Implementation and Analysis

In this paper a solution for the removal of long tail blocktimes in a proof-of-work blockchain is proposed, implemented and analysed. Results from the mainnet of the Bismuth blockchain demonstrate that the variances in the key variables, difficulty level and blocktime, were approximately halved after the tail removal code was enabled. Low variances in difficulty and blocktimes are desirable for timely execution of transactions in the network as well as reduction of unwanted oscillations in the feedback control problem

Static Deflection Compensation of Multi-Link Flexible Manipulators Under Gravity

The static deflection compensation method of a planar multi-link flexible manipulator is proposed using the feedback from inertial sensors mounted at the tip of each link. The proposed compensation technique is validated experimentally using a high-precision laser tracker. The proposed strategy is experimentally verified using a three-link flexible manipulator. A strategy to compensate for the centripetal and tangential acceleration induced on the accelerometer mounted on the rotating link is proposed for correct inclination estimation. The improvement in the inclination estimation using the proposed compensation technique is verified both in simulation and experimental studies.publishedVersio