Automated Modeling and Rapid Solution of Robot Dynamics Using the Symbolic Polynomial Technique

1987 ◽  
Author(s):  
M. A. Townsend ◽  
S. Gupta
Keyword(s):  
Real Time ◽  
Equations Of Motion ◽  
New Method ◽  
Dynamic Equations ◽  
Dynamic State ◽  
Robot Dynamics ◽  
Robot Arm ◽  
Numerical Computations ◽  
Automated Modeling ◽  
On Line

Abstract Fast and accurate solutions of the dynamic equations of a robot arm are required for real time on-line control. In this paper we present a new method for rapidly evaluating the exact dynamic state of a robot. This method uses a combination of symbolic and numerical computations on the equations of motion, which are developed in the form of polynomials — hence the name, the symbolic polynomial technique.

Automated Modeling and Rapid Solution of Robot Dynamics Using the Symbolic Polynomial Technique

1989 ◽  
Vol 111 (4) ◽  
pp. 537-544 ◽  
Author(s):  
M. A. Townsend ◽  
S. Gupta
Keyword(s):  
Real Time ◽  
Equations Of Motion ◽  
New Method ◽  
Dynamic Equations ◽  
Dynamic State ◽  
Robot Dynamics ◽  
Robot Arm ◽  
Numerical Computations ◽  
Automated Modeling ◽  
On Line

Fast and accurate solutions of the dynamic equations of a robot arm are required for real time on-line control. In this paper we present a new method for rapidly evaluating the exact dynamic state of a robot. This method uses a combination of symbolic and numerical computations on the equations of motion, which are developed in the form of polynomials—hence the name, the symbolic polynomial technique.

Solid Mass Flowrate Measurement System Using the Double-Elbow Method

2013 ◽  
Vol 718-720 ◽  
pp. 420-423
Author(s):  
Yan Jun Zhao ◽  
Fan Wei Meng ◽  
Bin Qu
Keyword(s):  
Real Time ◽  
New Method ◽  
Pneumatic Conveying ◽  
Solid Mass ◽  
Solid Flow ◽  
Mixture Density ◽  
Mass Flowrate ◽  
On Line ◽  
Measurement Principle ◽  
Conveying System

The gas-solid flow is widely used in the enterprises. The real-time solid mass flowrate measurement is an important role to the enterprise production. Based on the gas flowrate measurement principle of the Elbow, the new Double-Elbow real-time solid mass flowrate measurement method in the gas-solid flow is brought out in this paper. The new method can finger out the mass flowrate directly and need not measure the mixture density in advance. The instrument on measuring the solid mass flowrate is developed based on the new method; the instrument is using the 8031 as the MCU; the measurement result can be displayed on the LED. The experiment on measuring the solid mass flowrate is carried out in the pneumatic conveying system. The experimental results prove that the instrument can be real-time on-line measuring the solid mass flowrate.

The Dual Inertia Operator and Its Application to Robot Dynamics

1994 ◽  
Vol 116 (4) ◽  
pp. 1089-1095 ◽  
Author(s):  
V. Brodsky ◽  
M. Shoham
Keyword(s):  
Rigid Body ◽  
Robot Manipulator ◽  
Equations Of Motion ◽  
Time Derivative ◽  
Three Dimensional ◽  
Dynamic Equations ◽  
Robot Dynamics ◽  
Dual Vector ◽  
Vector Algebra ◽  
Vector Part

The principle of transference states that when dual numbers replace real ones all laws of vector algebra, which describe the kinematics of rigid body with one point fixed, are also valid for motor algebra, which describes a free rigid body. No such direct extension exists, however, for dynamics. Rather, the inertia binor is used to obtain the dual momentum, from which the dual equations of motion are derived. This raises the dual dynamic equations to six dimensions, and in fact, does not act on the dual vector as a whole, but on its real and dual parts as two distinct real vectors. Moreover, in order to obtain the dual force as a derivative of the dual momentum in a correct order, real and dual parts have to be artificially interchanged. In this investigation the dual inertia operator, which allows direct relation of dual momentum to dual velocity, is introduced. It gives the mass a dual property which has the inverse sense of Clifford’s dual unit, namely, it reduces a motor to a rotor proportional to the vector part of the former. In a way analogous to the principle of transference, the same equation of momentum and its time derivative, which holds for a linear motion, holds for both linear and angular motion of a rigid body if dual force, dual velocity, and dual inertia replace their real counterparts. It is shown that by systematic application of the dual inertia for derivation of the dual momentum and the dual energy, both Newton-Euler and Lagrange formulations of equations of motion are obtained in a complete three-dimensional dual form. As an example, these formulations are used to derive the inverse dual dynamic equations of a robot manipulator.

An Oxy-Hydrocarbon Model of Fossil Fuels

2007 ◽  
Author(s):  
Fred D. Lang ◽  
Tom Canning
Keyword(s):  
Real Time ◽  
Power Plants ◽  
Fossil Fuels ◽  
Analysis Data ◽  
High Energy ◽  
New Method ◽  
Special Cases ◽  
On Line ◽  
Loss Method

This paper asserts a new method of analyzing fossil fuels, useful for sorting coals into well defined categories and for the identification of outlying ultimate analysis data. It describes a series of techniques starting with a new multi-variant approach for describing the lower Ranks of coal, progressing to a classical, but modified, single-variant approach for the volatile and high energy Ranks. In addition, for a few special cases, multiple low and high Ranks are also well described by the multi-variant approach. As useful as these techniques are for analyzing fuel chemistry in the laboratory arena, this work was initiated in support of Exergetic Systems’ Input/Loss Method. At commercial coal-fired power plants, Input/Loss allows the determination of fuel chemistry based on combustion effluents. The methods presented allow equations to be developed independent of combustion stoichiometrics, which improve Input/Loss accuracy in determining fuel chemistry on-line and in real time.

A New Method to Control and Monitor a 6 D.O.F. Robot Arm

2012 ◽  
Vol 236-237 ◽  
pp. 297-301
Author(s):  
Yan Ming Pei ◽  
Kai Li ◽  
Yun Hong Liu
Keyword(s):  
Real Time ◽  
Wireless Network ◽  
Monitoring System ◽  
Experimental Results ◽  
Host Computer ◽  
New Method ◽  
Robot Arm ◽  
Servo Motor ◽  
Verilog Hdl ◽  
Upper Computer

This paper mainly talks about the design of a controlling and monitoring system of the robot arm based on FPGA. The robot arm has 6 DOFs (Degree of Freedom). Every joint was driven by a servo motor. These servo motors were located as the finger, the wrist, the three arms and a rotatable platform. The FPGA programs were completed using the Verilog HDL. We programmed a LabVIEW VI to function as a controlling center. The data between PC and FPGA were transported through a ZigBee wireless network which consisted of 2 XBee devices and a wireless camera. They were used to monitor the moving condition of the arms. The experimental results show that the robot arms move with no apparent delay controlled by the host computer. The real-time display of the arm’s status is realized by the upper computer.

Adaptive Signal Analysis and Interpretation for Real-time Intelligent Patient Monitoring

1994 ◽  
Vol 33 (01) ◽  
pp. 60-63 ◽  
Author(s):  
E. J. Manders ◽  
D. P. Lindstrom ◽  
B. M. Dawant
Keyword(s):  
Computer Architecture ◽  
Real Time ◽  
Data Abstraction ◽  
Monitoring Strategy ◽  
Intelligent Monitoring ◽  
Patient Status ◽  
On Line ◽  
Main Components ◽  
And Control ◽  
Adaptive Signal

Abstract:On-line intelligent monitoring, diagnosis, and control of dynamic systems such as patients in intensive care units necessitates the context-dependent acquisition, processing, analysis, and interpretation of large amounts of possibly noisy and incomplete data. The dynamic nature of the process also requires a continuous evaluation and adaptation of the monitoring strategy to respond to changes both in the monitored patient and in the monitoring equipment. Moreover, real-time constraints may imply data losses, the importance of which has to be minimized. This paper presents a computer architecture designed to accomplish these tasks. Its main components are a model and a data abstraction module. The model provides the system with a monitoring context related to the patient status. The data abstraction module relies on that information to adapt the monitoring strategy and provide the model with the necessary information. This paper focuses on the data abstraction module and its interaction with the model.

Nitrogen Removal in a Real-Time Controlled Sequencing Batch Membrane Bioreactor

2010 ◽  
Vol 5 (3) ◽  
Author(s):  
Cheng-Nan Chang ◽  
Li-Ling Lee ◽  
Han-Hsien Huang ◽  
Ying-Chih Chiu
Keyword(s):  
Real Time ◽  
Nitrogen Removal ◽  
Membrane Bioreactor ◽  
Synthetic Wastewater ◽  
Real Time Control ◽  
Time Control ◽  
Cake Layer ◽  
On Line ◽  
Solid Liquid ◽  
Solid Liquid Separation

The performance of a real-time controlled Sequencing Batch Membrane Bioreactor (SBMBR) for removing organic matter and nitrogen from synthetic wastewater has been investigated in this study under two specific ammonia loadings of 0.0086 and 0.0045g NH4+-N gVSS−1 day−1. Laboratory results indicate that both COD and DOC removal are greater than 97.5% (w/w) but the major benefit of using membrane for solid-liquid separation is that the effluent can be decanted through the membrane while aeration is continued during the draw stage. With a continued aeration, the sludge cake layer is prevented from forming thus alleviating the membrane clogging problem in addition to significant nitrification activities observed in the draw stage. With adequate aeration in the oxic stage, the nitrogen removal efficiency exceeding 99% can be achieved with the SBMBR system. Furthermore, the SBMBR system has also been used to study the occurrence of ammonia valley and nitrate knee that can be used for real-time control of the biological process. Under appropriate ammonia loading rates, applicable ammonia valley and nitrate knee are detected. The real-time control of the SBMBR can be performed based on on-line ORP and pH measurements.

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