Object Handling by Coordinated Multiple Mobile Manipulators Without Force/Torque Sensors

2008 ◽  
Vol 20 (3) ◽  
pp. 394-402 ◽  
Author(s):  
Yohei Kume ◽  
◽  
Yasuhisa Hirata ◽  
Kazuhiro Kosuge
Keyword(s):  
Control Algorithm ◽  
Coordinated Control ◽  
Mobile Manipulators ◽  
Single Object ◽  
The Real ◽  
As If ◽  
Parameter Error

The coordinated control algorithm for multiple mobile manipulators without force/torque sensors handling a single object in coordination controls individual mobile manipulators as if the grasping point has impedance dynamics by using the real manipulator’s dynamics. Mobile manipulators handle the object in coordination using the leader-follower control algorithm we propose, based on impedance dynamics. After discussing the effect of parameter error and how to reduce it, we confirm the proposed control algorithm’s feasibility in experiments using two mobile manipulators.

A novel coordinated control algorithm for distributed driving electric vehicles

2017 ◽  
Vol 50 (4-6) ◽  
pp. 405-421
Author(s):  
Shixin SONG ◽  
Wanchen SUN ◽  
Feng XIAO ◽  
Silun PENG ◽  
Jingyu AN ◽  
...  
Keyword(s):  
Electric Vehicles ◽  
Control Algorithm ◽  
Coordinated Control

scholarly journals On path following control of nonholonomic mobile manipulators

2009 ◽  
Vol 19 (4) ◽  
pp. 561-574 ◽  
Author(s):  
Alicja Mazur ◽  
Dawid Szakiel
Keyword(s):  
Control Algorithm ◽  
Dynamic Control ◽  
Path Following ◽  
Mobile Manipulator ◽  
Mobile Manipulators ◽  
Control Laws ◽  
Kinematic Control ◽  
Motion Constraints ◽  
Path Following Control ◽  
Cascade Structure

On path following control of nonholonomic mobile manipulatorsThis paper describes the problem of designing control laws for path following robots, including two types of nonholonomic mobile manipulators. Due to a cascade structure of the motion equation, a backstepping procedure is used to achieve motion along a desired path. The control algorithm consists of two simultaneously working controllers: the kinematic controller, solving motion constraints, and the dynamic controller, preserving an appropriate coordination between both subsystems of a mobile manipulator, i.e. the mobile platform and the manipulating arm. A description of the nonholonomic subsystem relative to the desired path using the Frenet parametrization is the basis for formulating the path following problem and designing a kinematic control algorithm. In turn, the dynamic control algorithm is a modification of a passivity-based controller. Theoretical deliberations are illustrated with simulations.

scholarly journals Pesantren Dan Pendidikan Politik Di Indonesia: Sebuah Reformulasi Kepemimpinan Islam Futuristik

2016 ◽  
Vol 16 (2) ◽  
pp. 461
Author(s):  
Mukodi Mukodi
Keyword(s):  
Real World ◽  
Life Skills ◽  
Boarding School ◽  
Political Awareness ◽  
The Real ◽  
Real World Problem ◽  
Agent Of Change ◽  
As If

Abstract: There is an increasing concern as if discussing politics in pesantren (Islamic Boarding School) was uncommon. This oddity is due to the conception of a person who puts pesantren merely a decontextualised scholarly reproduction of an-sich (from the real world problem or real politics) and not as an agent of change. In fact, pesantren is a replica of life integrating various life skills, including politics. The most interesting finding was that the diverse activities of life in the boarding school had raised the seedling of students’ political sense. This article also recommends the presence of political boarding school establishment, as a political incubator for Islamic activists as the continuity of conditioning political awareness in pesantren. Its realization is believed to be able to trigger the acceleration of the Islamic ideal leader candidate in Indonesia.

scholarly journals NIKOLAI OSTROVSKY: «A PLACE IN THE IRON BATTLE FOR POWER». RUSSIA ON THE EVE AND AFTER OCTOBER. ARTICLE TWO

2020 ◽  
Vol 23 (4) ◽  
pp. 161-168
Author(s):  
Sergei A. Nikolsky ◽  
Keyword(s):  
Class Struggle ◽  
Constant Intensity ◽  
Historical Process ◽  
The Real ◽  
Short Course ◽  
The World ◽  
The Future ◽  
Party Members ◽  
As If

To reveal the theme of Russia after October, 1917, Nickolai Ostrovsky's book «How steel was tempered» is one of the most significant. In it, in its purest form, there is a portrait of an ideal revolutionary – a Bolshevik, merciless not only to the enemy, but to himself and others as well, a man, from whom, according to the poet's figurative expression, there could be made the strongest nails in the world. The book was enthusiastically received by the thirteen million army of party members and Komsomol members. For some, Pavel Korchagin was an ideal to emulate, for others – an image that reinforced their own myths about past heroic deeds, allowing them to settle warmly in the present. For the authorities, the story, cleared by censorship from the Bolshevik democracy of the first years, was an artistic forerunner of the future Stalinist «Short course of the AUCP history». One of the most thoughtful Soviet literary critics, Leo Anninsky, considered the story to be a story about people «engaged to an idea». In a sense, this is true. However, the engagement prevented both Ostrovsky and his Soviet interpreter from seeing the real historical process in its tragic depth and contradictions. For the hero Pavel Korchagin, there are neither the beginnings of Stalinist totalitarianism, nor the tragedy of a collectivized, starving village. Living as if out of time, he preaches the same thing – a class struggle that never fades for a moment. It seems that the fire of struggle will be extinguished and the hero's life will be interrupted. In fact, this is not allowed to happen: the constant intensity of the class struggle, which, as Stalin said, will grow more and more as we move towards socialism, is the secret of Soviet totalitarianism, represented and justified in an artistic form by Nikolai Ostrovsky.

HyperReality

2009 ◽  
pp. 631-640
Author(s):  
Nobuyoshi Terashima
Keyword(s):  
Virtual Reality ◽  
Cooperative Work ◽  
Virtual Human ◽  
The Internet ◽  
The Real ◽  
Collaborative Environment ◽  
Communication Environment ◽  
Communication Paradigm ◽  
As If

On the Internet, a cyberspace is created where people communicate together, usually by using textual messages. Therefore, they cannot see each other in cyberspace. Whenever they communicate, it is desirable for them to see each other as if they were gathered at the same place. To achieve this, various kinds of concepts have been proposed, such as a collaborative environment, Tele-Immersion, and tele-presence (Sherman & Craig, 2003). In this article, HyperReality (HR) is introduced. HR is a communication paradigm between the real and the virtual (Terashima, 1995, 2002; Terashima & Tiffin, 2002; Terashima, Tiffin, & Ashworth, in press). The real means a real inhabitant, such as a real human or a real animal. The virtual means a virtual inhabitant, a virtual human, or a virtual animal. HR provides a communication environment where inhabitants, real or virtual, that are at different locations, meet and do cooperative work together as if they were gathered at the same place. HR can be developed based on virtual reality (VR) and telecommunications technologies.

any real doubt about the ending. Heliodoros redirected curiosity from outcome to explanation. The second problem is lack of direc­ tion and unity: romance was prone to fall apart into a series of exciting but only loosely connected adventures, at the end of which the protagonists recovered their lost happiness and simply lived out the rest of their lives as if nothing had happened. By leaving central questions unanswered Heliodoros is able to hold large spans of text together, and the most important answers, when they do arrive, involve decisive change for the protagonists. Both these strategies imply an interpretatively active reader. The opening of the novel is deservedly famous.11 A gang of bandits come across a beached ship, surrounded by twitching corpses and the wreckage of a banquet. Through their eyes, and with their ignorance of what has taken place, the reader is made to assimilate the scene in obsessive but unexplained visual detail. In the midst of the carnage sits a fabulously beautiful young woman, nursing a fabulously handsome young man. It does not take long to identify them as the hero and heroine of the novel, and learn that their names are Theagenes and Charikleia, but Heliodoros tantalizes us over further details. Thus at the very beginning of the novel two riddles are established: what has hap­ pened on the beach? and who exactly are the hero and heroine? Heliodoros prolongs the reader’s ignorance by his characteristic use of partial viewpoint. Sometimes, as with the bandits, there is a fictional audience whose specific perceptions act as a channel of partial information to the reader, but elsewhere Heliodoros as narrator simply relates what an uninformed witness of the events would have seen or heard. For example, we are only allowed to find out about the hero and heroine as they speak to others r are spoken about: Heliodoros as author knows all about them but keeps quiet in favour of his recording but not explaining narrative voice. The opening scene is eventually disambiguated by Kalasiris, an Egyptian priest. He regales Knemon, a surrogate reader within the text who shares the real reader’s curiosity about the protagonists, with a long story, beginning in Book 2, of how he met Charikleia at Delphi, witnessed the birth of her love for Theagenes and helped the lovers to elope. He chronicles their subsequent experiences, until at the end of Book 5, half-way through the novel, the story circles back to its own beginning and at last resolves the mystery of the scene on the beach.

2014 ◽  
pp. 327-327
Keyword(s):  
Young Woman ◽  
Partial Information ◽  
The Novel ◽  
Narrative Voice ◽  
The Real ◽  
Opening Scene ◽  
Visual Detail ◽  
As If

scholarly journals Model Predictive Control-Based Coordinated Control Algorithm with a Hybrid Energy Storage System to Smooth Wind Power Fluctuations

Energies ◽  
2019 ◽  
Vol 12 (23) ◽  
pp. 4591
Author(s):  
Haisheng Hong ◽  
Quanyuan Jiang
Keyword(s):  
Predictive Control ◽  
Power Output ◽  
Control Algorithm ◽  
Storage System ◽  
Coordinated Control ◽  
Energy Storage System ◽  
Hybrid Energy ◽  
Hybrid Energy Storage ◽  
Hybrid Energy Storage System ◽  
Prediction Horizon

Stochastically fluctuating wind power has an escalating impact on the stability of power grid operations. To smooth out short- and long-term fluctuations, this paper presents a coordinated control algorithm using model predictive control (MPC) to manage a hybrid energy storage system (HESS) consisting of ultra-capacitor (UC) and lithium-ion battery (LB) banks. In the HESS-computing period, the algorithm minimizes HESS operating costs in the subsequent prediction horizon by optimizing the time constant of a flexible first-delay filter (FDF) to obtain the UC power output. In the LB-computing period, the algorithm keeps the optimal time constant of the FDF from the previous period to directly obtain the power output of the UC bank to minimize the power output of the LB bank in the next prediction horizon. A relaxation technique is deployed when the problem is unsolvable. Thus, the fluctuation mitigation requirements are fulfilled with a large probability even in extreme conditions. A state-of-charge (SOC) feedback control strategy is proposed to regulate the SOC of the HESS within its proper range. Case studies and quantitative comparisons demonstrate that the proposed MPC-based algorithm uses a lower power rating and storage capacity than other conventional algorithms to satisfy one-minute and 30-min fluctuation mitigation requirements (FMR).

AGONIES OF THE REAL: ANTI-REALISM FROM KUHN TO FOUCAULT

2012 ◽  
Vol 9 (1) ◽  
pp. 127-147
Author(s):  
PETER E. GORDON
Keyword(s):  
The Real ◽  
Original Meaning ◽  
The Everyday ◽  
As If ◽  
The Invisible

When did historians begin to put quotation marks around the wordreal? There are many examples of this habit and some of them will be set forth as evidence in what follows. But before doing so we might ask a preliminary question: What are the quotation marksthemselvessupposed to mean? Today we find them so familiar they hardly need to be written and they are more frequently consigned to the everyday repertoire of silent gesture: two fingers on either hand clutch at the air as if they meant to tickle the flanks of the invisible beast between them. The popular term is “scare-quotes,” a pun on the word “scarecrow.” Its etymology is revealing: just as a mere representation of a body in a field may scare off birds, so too scare-quotes permit someone to deploy a word without sincere commitment to what it normally means. But further reflection tells us that the effects are not so similar after all: To use a term without sincerity robs it of its original meaning and holds up its lifeless corpse to ridicule. The more knowing sort of crow can settle on the shoulder of the figure on the pole precisely because it recognizes that such a sorry excuse for a man can in fact harm no one. Similarly when one putsrealityin quotation marks (thus: “reality”) we are put in mind of the living concept but we are immediately alerted to the fact that, for the user at least, the new term enjoys no metaphysical prestige. How did this happen? When and why did the single most privileged word in the entire lexicon of metaphysics begin to lose its authority such that in certain spheres of intellectual sophistication its sincere use would only seem an embarrassment and a sign of naïveté?

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