simulation modeling and control of environmental quality

Tài liệu supervised tactical mobility behavior modeling and control of multi agent robotic vehicles doc

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MODELING AND CONTROL OF NONHOLONOMIC MECHANICAL SYSTEMS doc

... Laumond [40] has devised a cleverly organized proof of controllability and hence, of complete nonholonomy However, the degree of nonholonomy of the system is not strictly deﬁned, since the relative ... Further, denote by ri and vi , respectively, the position and the linear velocity of the center of mass, and by ωi the angular velocity of the body (all vectors are embedded in I and expressed in ... the mass of the i-th body and Ii its inertia matrix with respect to the center of mass When no external force is applied, and in the absence of gravity and dissipation forces, the linear and angular...

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Mechatronic Systems, Simulation, Modeling and Control Part 1 potx

Danh mục: Kĩ thuật Viễn thông

... for the simulation of autonomous proximity manoeuvres of a uniquely control actuator configured spacecraft.The design of complex mechatronic systems requires the development and use of software ... development environments, and systematic design practices Integrated methods of simulation and Real-Time control aiming at improving the efficiency of an iterative design process of control systems are ... book provides an excellent survey of recent work in modelling and control of electromechanical components, and mechatronic machines and vehicles A brief description of every chapter follows The book...

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Mechatronic Systems, Simulation, Modeling and Control Part 3 potx

Danh mục: Kĩ thuật Viễn thông

... multipliers, and it uses forearms and end effector platform of non-negligible inertias for the 118 Mechatronic Systems, Simulation, Modelling and Control development of control strategies By means of obtaining ... of the system due to the information that can be obtained from it Second jacobian is used to determine off-line the work space of the robot and it is used in the joint and visual controller of ... stiffness of LiNbO3 is approximately same as that of steel This means that mechanical Q factor of LiNbO3 is higher than that of steel, namely, damping factor of LiNbO3 is lower Frequency shift of LiNbO3...

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Mechatronic Systems, Simulation, Modeling and Control Part 4 pptx

Danh mục: Kĩ thuật Viễn thông

... number of coordinates (Note that (43) is the number of 132 Mechatronic Systems, Simulation, Modelling and Control and in our case DOF = number of actuated joints), contains the external applied and ... the half of the mass of the input link and is supposed to be simplify the analysis concentrated at two points ( and ), I is the axial moment of inertia of the input shaft (and the half of the input ... mass of the body in the center of mass, is the moment of inertia and is the body's angular velocity Thus the total kinetic energy of the robot is (mobile platform, input links and input shafts, and...

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Mechatronic Systems, Simulation, Modeling and Control Part 5 pot

Danh mục: Kĩ thuật Viễn thông

... best control performance 148 Mechatronic Systems, Simulation, Modelling and Control System Description Consider the tandem rotor model helicopter of Quanser Consulting, Inc shown in Figs and ... eigenvalues of the matrices K1 and K2 are −1, and the characteristic roots of the error equations (22) and (23) are speciﬁed as (−2.0, −3.0) and (−2.0, −2.2, −2.4, −2.6), respectively The origin of the ... dynamics Fig Time evolution of angle ε (—) and reference output ε M (· · · ) 156 Mechatronic Systems, Simulation, Modelling and Control Fig Time evolution of angle φ (—) and reference output φM...

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Mechatronic Systems, Simulation, Modeling and Control Part 7 ppt

Danh mục: Kĩ thuật Viễn thông

... Systems, Simulation, Modelling and Control Laboratory Experimentation of Guidance and Control of Spacecraft During On-orbit Proximity Maneuvers 187 11 X Laboratory Experimentation of Guidance and Control ... This approach and structure of the control system is the implementation of the model reference control The resulting controller is a combination of a low-order linear dynamical system and a matrix ... guidance, navigation and control One 188 Mechatronic Systems, Simulation, Modelling and Control such method involves reproduction of the kinematics and vehicle dynamics for 3-DoF (two horizontal...

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Mechatronic Systems, Simulation, Modeling and Control Part 8 doc

Danh mục: Kĩ thuật Viễn thông

... standard deviation of 1.9 mm/s and 3.1 mm/s mean for VY with a standard deviation of 2.8 mm/s The mean of the absolute value of the estimated error in X is mm with a standard deviation of mm and ... deviation of 1.8 mm/s and 3.0 mm/s mean for VY with a standard deviation of 2.7 mm/s Furthermore, the mean of the absolute value of the estimated error in X is mm with a standard deviation of mm and ... in Y with a standard deviation of mm Likewise, Fig 6e and Fig 6f demonstrate the accuracy of the attitude tracking control through a comparison of the commanded and actual attitude and attitude...

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Mechatronic Systems, Simulation, Modeling and Control Part 10 ppt

Danh mục: Kĩ thuật Viễn thông

... Simulation, Modelling and Control improve software quality and productivity Software composition by object-oriented technologies is expected as a very effective approach to improve software quality ... the RT control framework, transformation of a program using the object model, and separation of platform dependent parts And, we developed the integrated environment for the simulation and the ... Development of Real-Time Control Package with Linux Kernel 2.6, 49th Annual Conference of the Institute of Systems, Control and Information Engineers Koga, M.; Tsutsui, Y & Yabuuchi, J (2006) Java Simulation...

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Mechatronic Systems, Simulation, Modeling and Control Part 12 doc

Danh mục: Kĩ thuật Viễn thông

... to assemblies and products, and a component structure that means the compound of software components Fig 17 classification of solution patterns Architecture and Design Methodology of Self-Optimizing ... integrated multifunctional materials For the simulation and optimization of such microsystems, control and system theory together with proper modeling of the plant are to be applied The finite element ... numerical simulation and structural modeling that can include multiphysics due to the cross coupling effects of the active material Afterwards, the efficiency and proper positioning of actuators and...

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Mechatronic Systems, Simulation, Modeling and Control 2012 Part 2 pdf

Danh mục: Kĩ thuật Viễn thông

... Mechatronic Systems, Simulation, Modelling and Control determined by current harmonics, defining a performance index related to undesirable effects of the harmonics is of the essence in lieu of focusing ... Display COM Port EEPROM 24C16 Fig Control unit with a microcomputer time between rising edges of PE) and TI (the time between rising edge of PE and trailing edge of PI) are measured by the unit, ... mass of the transducer, A is the section area of the transducer, E is the elastic modulus of the material of the transducer, l is the half length of the transducer, Kc is the stiffness of the...

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Mechatronic Systems, Simulation, Modeling and Control 2012 Part 3 pdf

Danh mục: Kĩ thuật Viễn thông

... multipliers, and it uses forearms and end effector platform of non-negligible inertias for the 118 Mechatronic Systems, Simulation, Modelling and Control development of control strategies By means of obtaining ... number of coordinates (Note that (43) is the number of 132 Mechatronic Systems, Simulation, Modelling and Control and in our case DOF = number of actuated joints), contains the external applied and ... the half of the mass of the input link and is supposed to be simplify the analysis concentrated at two points ( and ), I is the axial moment of inertia of the input shaft (and the half of the input...

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Mechatronic Systems, Simulation, Modeling and Control 2012 Part 4 pptx

Danh mục: Kĩ thuật Viễn thông

... eans of the mass c center of the proj jection of the ball on the image ( l and by means of th diameter of the ball ( ) Diam he e meter of the ball is principally critic and cal ires sub-pixel pre ... other works and some results and videos are shown, the another controller is called the dynamic case An objective of the system is to play ping pong by itself and the controller of the dynamic ... best control performance 148 Mechatronic Systems, Simulation, Modelling and Control System Description Consider the tandem rotor model helicopter of Quanser Consulting, Inc shown in Figs and...

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Mechatronic Systems, Simulation, Modeling and Control 2012 Part 6 pdf

Danh mục: Kĩ thuật Viễn thông

... Systems, Simulation, Modelling and Control Laboratory Experimentation of Guidance and Control of Spacecraft During On-orbit Proximity Maneuvers 187 11 X Laboratory Experimentation of Guidance and Control ... This approach and structure of the control system is the implementation of the model reference control The resulting controller is a combination of a low-order linear dynamical system and a matrix ... guidance, navigation and control One 188 Mechatronic Systems, Simulation, Modelling and Control such method involves reproduction of the kinematics and vehicle dynamics for 3-DoF (two horizontal...

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Mechatronic Systems, Simulation, Modeling and Control 2012 Part 7 docx

Danh mục: Kĩ thuật Viễn thông

... block diagram representation of the control system 202 Mechatronic Systems, Simulation, Modelling and Control Fig Block Diagram of the Control System of the 3-DoF Spacecraft simulator 5.1 Navigation ... under the assumption that the control bandwidth of the thrusters’s rotation is much larger than the control bandwidth of the system dynamics, the internal dynamics of the vectorable thrusters can ... (8) With the system in the form of Eq (6) given the vector fields in Eqs (7) and (8), and given that f( x ) (the drift term) and G( x ) (the control matrix of control vector fields) are smooth...

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Mechatronic Systems, Simulation, Modeling and Control 2012 Part 8 potx

Danh mục: Kĩ thuật Viễn thông

... standard deviation of 1.9 mm/s and 3.1 mm/s mean for VY with a standard deviation of 2.8 mm/s The mean of the absolute value of the estimated error in X is mm with a standard deviation of mm and ... executed in order of modelling, design of controller, simulation, and control experiment If a control plant is a robot or an inverted pendulum etc, Real-Time control is required and control experiment ... Handle commands (start/end of control etc.) from the user  Commands Interpretation module Interpret commands from the user, and handle them Fig Architecture of framework 2.2 Transformation of...

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Mechatronic Systems, Simulation, Modeling and Control 2012 Part 11 docx

Danh mục: Kĩ thuật Viễn thông

... to assemblies and products, and a component structure that means the compound of software components Fig 17 classification of solution patterns Architecture and Design Methodology of Self-Optimizing ... integrated multifunctional materials For the simulation and optimization of such microsystems, control and system theory together with proper modeling of the plant are to be applied The finite element ... numerical simulation and structural modeling that can include multiphysics due to the cross coupling effects of the active material Afterwards, the efficiency and proper positioning of actuators and...

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Mechatronic Systems, Simulation, Modeling and Control 2012 Part 12 potx

Danh mục: Kĩ thuật Viễn thông

... resonant control of collocated smart structures, Smart Materials and Structures, vol.16, pp 439-446, 2007 Barboni R., and al (2000), Optimal placement of PZT actuators for the control of beam ... Systems, Simulation, Modelling and Control Chang H.C., Tsai J.M.L., Tsai H.C., Fang W (2006), Design, fabrication, and testing of a 3DOF HARM micromanipulator on (111) silicon substrate, Sensors and ... vibration control of a flexible beam containing piezoelectric sensors and actuators, Journal of Shock and Vibration, vol 10, pp 283-300, 2003 Agnus J., Nectoux P , Chaillet N (2005), Overview of microgrippers...

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Introduction to Modeling and Control of Internal Combustion Engine Systems P1 potx

Danh mục: Kĩ thuật Viễn thông

... Introduction to Modeling and Control of Internal Combustion Engine Systems Lino Guzzella and Christopher H Onder Introduction to Modeling and Control of Internal Combustion Engine Systems ABC Prof Dr Lino ... Substructure of a complete vehicle control system 1.2.2 Electronic Engine Control Hardware and Software Typically, an electronic engine control unit (ECU) includes standard microcontroller hardware ... downstream air-to-fuel ratio control; complete section on modeling, detection, and control of engine knock; new methodology for the design of an air-to-fuel ratio controller exhibiting several...

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Introduction to Modeling and Control of Internal Combustion Engine Systems P2 ppsx

Danh mục: Kĩ thuật Viễn thông

... Inputs, states, and outputs of a receiver The inputs and outputs are the mass and energy flows,8 the reservoirs store mass and thermal energy,9 and the level variables are the pressure and temperature ... temperature in front of the turbine; turbocharger rotational speed; torque produced by the turbine; and For fluid dynamic and aerodynamic simulations, usually a high-bandwidth model of the rail dynamics ... simplified cause and effect diagram of an SI engine (assuming isothermal conditions in the intake manifold and modeling the exhaust manifold as a pure delay system) In the cause and effect diagram,...

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