Jane Li. Assistant Professor Mechanical Engineering Department, Robotic Engineering Program Worcester Polytechnic Institute
|
|
|
- Caroline Marshall
- 5 years ago
- Views:
Transcription
1 Jane Li Assistant Professor Mechanical Engineering Department, Robotic Engineering Program Worcester Polytechnic Institute
2 (4 pts) Derive Dynamic equations and state space representation for the system. (6 pts) Explain why a discrete spring may go unstable, and how to stabilize it. RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/2017 2
3 RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/2017 3
4 RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/2017 4
5 RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/2017 5
6 RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/2017 6
7 RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/2017 7
8 RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/2017 8
9 RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/2017 9
10 Due to discretization Real contact force Moving into wall Moving out of wall RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/
11 From the perspective of energy conservation Contact is stable when there is positive energy flow from human to wall Moving in: Moving out: RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/
12 Energy applied to the wall when When moving in When moving out RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/
13
14 Virtual Wall RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/
15 RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/
16 RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/
17 RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/
18 RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/
19 From the perspective of energy conservation RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/
20 RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/
21 T = 0.05 sec Be = 50 Ns/m RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/
22 Remote RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/
23 RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/
24 T = 0.02 sec Be = 50 Ns/m Td = 1 time step RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/
25 T = 0.02 sec Be = 50 Ns/m Td = 2 time steps RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/
26 Remote RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/
27 RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/
28 T = 0.02 sec Be = 50 Ns/m Td = 2 time steps Kvc = 20; Bvc = 0.4; RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/
29 Stability controller Virtual contact Object dynamics Remote RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/
30 RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/
31 RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/
32 RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/
33 RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/
34 Can you feel any force feedback for direct user contact? RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/
35 RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/
36 RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/
37 RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/
38 RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/
39 RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/
40 RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/
41 RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/
42 Simulate the distributed control architecture for peer-to-peer networked haptic cooperation in Simulink Haptic device: mh = 10; bh = 25; Virtual object: m = 40; b = 25; Contact: Kvc = 2000; Bvc = 3; Virtual coupling for object: Kt = 2000; Bt = 300; Find a set of K_RDP and B_RDP such that the system is stable without delay Increase the delay until the system is unstable RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/
43 Stability of a virtual wall Colgate, J. Edward, et al. "Implementation of stiff virtual walls in force-reflecting interfaces." Virtual Reality Annual International Symposium, 1993., 1993 IEEE. IEEE, 1993 Matlab Simulink S-function matlab-s-functions.html RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/
44
45 RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/
46 Reference: e_pdf/discretization.pdf A quick answer RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/
47 Homogeneous solution Forced (particular) solution? RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/
48 RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/
49 Compute A s eigenvalues and eigenvectors RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/
50 When does this system go unstable? RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/
51 A linear discrete-time system is asymptotically stable if and only if All eigenvalues have magnitude smaller than one RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/
52 RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/
53 RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/
54 Time domain S-transform Z-transform RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/
55 Chapter 1-2 Send feedback in project group meeting Address the comments in your official proposal Chapter 3 Methodology Chapter 4 Preliminary result CAD design (printed out), algorithm simulation, implementation RBE 595 Synergy of Human and Robotic Systems Instructor: Jane Li, Mechanical Engineering Department & Robotic Engineering Program - WPI 10/11/
56
Jane Li. Assistant Professor Mechanical Engineering Department, Robotic Engineering Program Worcester Polytechnic Institute
Jane Li Assistant Professor Mechanical Engineering Department, Robotic Engineering Program Worcester Polytechnic Institute (6 pts )A 2-DOF manipulator arm is attached to a mobile base with non-holonomic
Jane Li. Assistant Professor Mechanical Engineering Department, Robotic Engineering Program Worcester Polytechnic Institute
Jane Li Assistant Professor Mechanical Engineering Department, Robotic Engineering Program Worcester Polytechnic Institute (3 pts) Explain the difference between navigation using visibility map and potential
Networked haptic cooperation using remote dynamic proxies
29 Second International Conferences on Advances in Computer-Human Interactions Networked haptic cooperation using remote dynamic proxies Zhi Li Department of Mechanical Engineering University of Victoria
AHAPTIC interface is a kinesthetic link between a human
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, VOL. 13, NO. 5, SEPTEMBER 2005 737 Time Domain Passivity Control With Reference Energy Following Jee-Hwan Ryu, Carsten Preusche, Blake Hannaford, and Gerd
Jane Li. Assistant Professor Mechanical Engineering Department, Robotic Engineering Program Worcester Polytechnic Institute
Jane Li Assistant Professor Mechanical Engineering Department, Robotic Engineering Program Worcester Polytechnic Institute Use an example to explain what is admittance control? You may refer to exoskeleton
Development of a Laboratory Kit for Robotics Engineering Education
Development of a Laboratory Kit for Robotics Engineering Education Taskin Padir, William Michalson, Greg Fischer, Gary Pollice Worcester Polytechnic Institute Robotics Engineering Program tpadir@wpi.edu
Discrimination of Virtual Haptic Textures Rendered with Different Update Rates
Discrimination of Virtual Haptic Textures Rendered with Different Update Rates Seungmoon Choi and Hong Z. Tan Haptic Interface Research Laboratory Purdue University 465 Northwestern Avenue West Lafayette,
Jane Li. Assistant Professor Mechanical Engineering Department, Robotic Engineering Program Worcester Polytechnic Institute
Jane Li Assistant Professor Mechanical Engineering Department, Robotic Engineering Program Worcester Polytechnic Institute (2 pts) How to avoid obstacles when reproducing a trajectory using a learned DMP?
Networked Haptic Cooperation among Multiple Users via Virtual Object Coordination to Averaged Position of Peer Copies
Networked Haptic Cooperation among Multiple Users via Virtual Object Coordination to Averaged Position of Peer Copies Zhi Li Department of Mechanical Engineering University of Victoria Victoria, BC, V8W
Enhancing Robot Teleoperator Situation Awareness and Performance using Vibro-tactile and Graphical Feedback
Enhancing Robot Teleoperator Situation Awareness and Performance using Vibro-tactile and Graphical Feedback by Paulo G. de Barros Robert W. Lindeman Matthew O. Ward Human Interaction in Vortual Environments
A Feasibility Study of Time-Domain Passivity Approach for Bilateral Teleoperation of Mobile Manipulator
International Conference on Control, Automation and Systems 2008 Oct. 14-17, 2008 in COEX, Seoul, Korea A Feasibility Study of Time-Domain Passivity Approach for Bilateral Teleoperation of Mobile Manipulator
SELF-BALANCING MOBILE ROBOT TILTER
Tomislav Tomašić Andrea Demetlika Prof. dr. sc. Mladen Crneković ISSN xxx-xxxx SELF-BALANCING MOBILE ROBOT TILTER Summary UDC 007.52, 62-523.8 In this project a remote controlled self-balancing mobile
Application of Levant s Differentiator for Velocity Estimation and Increased Z-Width in Haptic Interfaces
Application of Levant s Differentiator for Velocity Estimation and Increased Z-Width in Haptic Interfaces Vinay Chawda Ozkan Celik Marcia K. O Malley Department of Mechanical Engineering and Materials
PERFORMANCE ANALYSIS OF SVPWM AND FUZZY CONTROLLED HYBRID ACTIVE POWER FILTER
International Journal of Electrical and Electronics Engineering Research (IJEEER) ISSN 2250-155X Vol. 3, Issue 2, Jun 2013, 309-318 TJPRC Pvt. Ltd. PERFORMANCE ANALYSIS OF SVPWM AND FUZZY CONTROLLED HYBRID
Efficiency of Cooperation between Human and Remote Robot System with Force Feedback
Efficiency of Cooperation between Human and Remote Robot System with Force Feedback Yuichi Toyoda, Pingguo Huang, Yutaka Ishibashi, Yuichiro Tateiwa, and Hitoshi Watanabe * Nagoya Institute of Technology
Multi-Rate Multi-Range Dynamic Simulation for Haptic Interaction
Multi-Rate Multi-Range Dynamic Simulation for Haptic Interaction Ikumi Susa Makoto Sato Shoichi Hasegawa Tokyo Institute of Technology ABSTRACT In this paper, we propose a technique for a high quality
Glossary of terms. Short explanation
Glossary Concept Module. Video Short explanation Abstraction 2.4 Capturing the essence of the behavior of interest (getting a model or representation) Action in the control Derivative 4.2 The control signal
MTE 360 Automatic Control Systems University of Waterloo, Department of Mechanical & Mechatronics Engineering
MTE 36 Automatic Control Systems University of Waterloo, Department of Mechanical & Mechatronics Engineering Laboratory #1: Introduction to Control Engineering In this laboratory, you will become familiar
2. Introduction to Computer Haptics
2. Introduction to Computer Haptics Seungmoon Choi, Ph.D. Assistant Professor Dept. of Computer Science and Engineering POSTECH Outline Basics of Force-Feedback Haptic Interfaces Introduction to Computer
Embedded Control Project -Iterative learning control for
Embedded Control Project -Iterative learning control for Author : Axel Andersson Hariprasad Govindharajan Shahrzad Khodayari Project Guide : Alexander Medvedev Program : Embedded Systems and Engineering
DESIGN OF INTELLIGENT PID CONTROLLER BASED ON PARTICLE SWARM OPTIMIZATION IN FPGA
DESIGN OF INTELLIGENT PID CONTROLLER BASED ON PARTICLE SWARM OPTIMIZATION IN FPGA S.Karthikeyan 1 Dr.P.Rameshbabu 2,Dr.B.Justus Robi 3 1 S.Karthikeyan, Research scholar JNTUK., Department of ECE, KVCET,Chennai
EE 370/L Feedback and Control Systems Lab Section Post-Lab Report. EE 370L Feedback and Control Systems Lab
EE 370/L Feedback and Control Systems Lab Post-Lab Report EE 370L Feedback and Control Systems Lab LABORATORY 10: LEAD-LAG COMPENSATOR DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING UNIVERSITY OF NEVADA,
Booklet of teaching units
International Master Program in Mechatronic Systems for Rehabilitation Booklet of teaching units Third semester (M2 S1) Master Sciences de l Ingénieur Université Pierre et Marie Curie Paris 6 Boite 164,
Jane Li. Assistant Professor Mechanical Engineering Department, Robotic Engineering Program Worcester Polytechnic Institute
Jane Li Assistant Professor Mechanical Engineering Department, Robotic Engineering Program Worcester Polytechnic Institute State one reason for investigating and building humanoid robot (4 pts) List two
Chapter 2 Introduction to Haptics 2.1 Definition of Haptics
Chapter 2 Introduction to Haptics 2.1 Definition of Haptics The word haptic originates from the Greek verb hapto to touch and therefore refers to the ability to touch and manipulate objects. The haptic
ELEC3104: Digital Signal Processing Session 1, 2013 LABORATORY 3: IMPULSE RESPONSE, FREQUENCY RESPONSE AND POLES/ZEROS OF SYSTEMS
ELEC3104: Digital Signal Processing Session 1, 2013 The University of New South Wales School of Electrical Engineering and Telecommunications LABORATORY 3: IMPULSE RESPONSE, FREQUENCY RESPONSE AND POLES/ZEROS
ANALYTICAL AND SIMULATION RESULTS
6 ANALYTICAL AND SIMULATION RESULTS 6.1 Small-Signal Response Without Supplementary Control As discussed in Section 5.6, the complete A-matrix equations containing all of the singlegenerator terms and
High Performance Accelerator. Simulation in PSpice Systems Option. Leading the Machine Intelligence Revolution. analog computing company
Leading the Machine Intelligence Revolution High Performance Accelerator analog computing company Simulation in PSpice Systems Option Nihar Athreyas 2017 Spero Devices, Inc. All Rights Reserved. 1 Market
EE 482 : CONTROL SYSTEMS Lab Manual
University of Bahrain College of Engineering Dept. of Electrical and Electronics Engineering EE 482 : CONTROL SYSTEMS Lab Manual Dr. Ebrahim Al-Gallaf Assistance Professor of Intelligent Control and Robotics
DC Motor Speed Control Using Machine Learning Algorithm
DC Motor Speed Control Using Machine Learning Algorithm Jeen Ann Abraham Department of Electronics and Communication. RKDF College of Engineering Bhopal, India. Sanjeev Shrivastava Department of Electronics
SERIES (OPEN CONDUCTOR) FAULT DISTANCE LOCATION IN THREE PHASE TRANSMISSION LINE USING ARTIFICIAL NEURAL NETWORK
1067 SERIES (OPEN CONDUCTOR) FAULT DISTANCE LOCATION IN THREE PHASE TRANSMISSION LINE USING ARTIFICIAL NEURAL NETWORK A Nareshkumar 1 1 Assistant professor, Department of Electrical Engineering Institute
CS277 - Experimental Haptics Lecture 2. Haptic Rendering
CS277 - Experimental Haptics Lecture 2 Haptic Rendering Outline Announcements Human haptic perception Anatomy of a visual-haptic simulation Virtual wall and potential field rendering A note on timing...
Discrete Fourier Transform (DFT)
Amplitude Amplitude Discrete Fourier Transform (DFT) DFT transforms the time domain signal samples to the frequency domain components. DFT Signal Spectrum Time Frequency DFT is often used to do frequency
Computer Haptics and Applications
Computer Haptics and Applications EURON Summer School 2003 Cagatay Basdogan, Ph.D. College of Engineering Koc University, Istanbul, 80910 (http://network.ku.edu.tr/~cbasdogan) Resources: EURON Summer School
Enhanced performance of delayed teleoperator systems operating within nondeterministic environments
University of Wollongong Research Online University of Wollongong Thesis Collection 1954-2016 University of Wollongong Thesis Collections 2010 Enhanced performance of delayed teleoperator systems operating
ASIC Implementation of High Throughput PID Controller
ASIC Implementation of High Throughput PID Controller 1 Chavan Suyog, 2 Sameer Nandagave, 3 P.Arunkumar 1,2 M.Tech Scholar, 3 Assistant Professor School of Electronics Engineering VLSI Division, VIT University,
Time-Domain Passivity Control of Haptic Interfaces
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, VOL 18, NO 1, FEBRUARY 2002 1 Time-Domain Passivity Control of Haptic Interfaces Blake Hannaford, Senior Member, IEEE, and Jee-Hwan Ryu Abstract A patent-pending,
A Digital Input Shaper for Stable and Transparent Haptic Interaction
21 IEEE International Conference on Robotics and Automation Anchorage Convention District May 3-8, 21, Anchorage, Alaska, USA A Digital Input Shaper for Stable and Transparent Haptic Interaction Yo-An
Passivity Analysis of Haptic Systems Interacting with Viscoelastic Virtual Environment
Has it been that Passivity Analysis of Haptic Systems Interacting with Viscoelastic Virtual Environment Hyoung Il Son*, apomayukh Bhattacharjee*, and Doo Yong Lee, Senior Member, IEEE Abstract Passivity
Applying Model Mediation Method to a Mobile Robot Bilateral Teleoperation System Experiencing Time Delays in Communication
Applying Model Mediation Method to a Mobile Robot Bilateral Teleoperation System Experiencing Time Delays in Communication B. Taner * M. İ. C. Dede E. Uzunoğlu İzmir Institute of Technology İzmir Institute
Design Applications of Synchronized Controller for Micro Precision Servo Press Machine
International Journal of Electrical Energy, Vol, No, March Design Applications of Synchronized Controller for Micro Precision Servo Press Machine ShangLiang Chen and HoaiNam Dinh Institute of Manufacturing
Position Control of DC Motor by Compensating Strategies
Position Control of DC Motor by Compensating Strategies S Prem Kumar 1 J V Pavan Chand 1 B Pangedaiah 1 1. Assistant professor of Laki Reddy Balireddy College Of Engineering, Mylavaram Abstract - As the
Frequency Response Analysis and Design Tutorial
1 of 13 1/11/2011 5:43 PM Frequency Response Analysis and Design Tutorial I. Bode plots [ Gain and phase margin Bandwidth frequency Closed loop response ] II. The Nyquist diagram [ Closed loop stability
A New Control Method for the Power Interface in Power Hardware-in-the-Loop Simulation to Compensate for the Time Delay.
A New Control Method for the Power Interface in Power Hardware-in-the-Loop Simulation to Compensate for the Time Delay. E. Guillo-Sansano efren.guillosansano@strath.ac.uk A.J. Roscoe andrew.j.roscoe@strath.ac.uk
Position Control of AC Servomotor Using Internal Model Control Strategy
Position Control of AC Servomotor Using Internal Model Control Strategy Ahmed S. Abd El-hamid and Ahmed H. Eissa Corresponding Author email: Ahmednrc64@gmail.com Abstract: This paper focuses on the design
The J2 Universal Tool-Kit - Linear Analysis with J2 Classical
The J2 Universal Tool-Kit - Linear Analysis with J2 Classical AIRCRAFT MODELLING AND PERFORMANCE PREDICTION SOFTWARE Key Aspects INTRODUCTION Why Linear Analysis? J2 Classical J2 CLASSICAL AS PART OF THE
Department of Electronic Engineering NED University of Engineering & Technology. LABORATORY WORKBOOK For the Course SIGNALS & SYSTEMS (TC-202)
Department of Electronic Engineering NED University of Engineering & Technology LABORATORY WORKBOOK For the Course SIGNALS & SYSTEMS (TC-202) Instructor Name: Student Name: Roll Number: Semester: Batch:
POWER TRANSFORMER PROTECTION USING ANN, FUZZY SYSTEM AND CLARKE S TRANSFORM
POWER TRANSFORMER PROTECTION USING ANN, FUZZY SYSTEM AND CLARKE S TRANSFORM 1 VIJAY KUMAR SAHU, 2 ANIL P. VAIDYA 1,2 Pg Student, Professor E-mail: 1 vijay25051991@gmail.com, 2 anil.vaidya@walchandsangli.ac.in
Simulation and Analysis of Cascaded PID Controller Design for Boiler Pressure Control System
PAPER ID: IJIFR / V1 / E10 / 031 www.ijifr.com ijifr.journal@gmail.com ISSN (Online): 2347-1697 An Enlightening Online Open Access, Refereed & Indexed Journal of Multidisciplinary Research Simulation and
Center for Hybrid and Embedded Software Systems. Hybrid & Embedded Software Systems
Center for Hybrid and Embedded Software Systems College of Engineering, University of California at Berkeley Presented by: Edward A. Lee, EECS, UC Berkeley Citris Founding Corporate Members Meeting, Feb.
Optimal Control System Design
Chapter 6 Optimal Control System Design 6.1 INTRODUCTION The active AFO consists of sensor unit, control system and an actuator. While designing the control system for an AFO, a trade-off between the transient
SPQR RoboCup 2016 Standard Platform League Qualification Report
SPQR RoboCup 2016 Standard Platform League Qualification Report V. Suriani, F. Riccio, L. Iocchi, D. Nardi Dipartimento di Ingegneria Informatica, Automatica e Gestionale Antonio Ruberti Sapienza Università
Performance Analysis of Conventional Controllers for Automatic Voltage Regulator (AVR)
Performance Analysis of Conventional Controllers for Automatic Voltage Regulator (AVR) Ajit Kumar Mittal M.TECH Student, B.I.T SINDRI Dhanbad, India Dr. Pankaj Rai Associate Professor, Department of Electrical
Robust Haptic Teleoperation of a Mobile Manipulation Platform
Robust Haptic Teleoperation of a Mobile Manipulation Platform Jaeheung Park and Oussama Khatib Stanford AI Laboratory Stanford University http://robotics.stanford.edu Abstract. This paper presents a new
Embedded Robust Control of Self-balancing Two-wheeled Robot
Embedded Robust Control of Self-balancing Two-wheeled Robot L. Mollov, P. Petkov Key Words: Robust control; embedded systems; two-wheeled robots; -synthesis; MATLAB. Abstract. This paper presents the design
GE420 Laboratory Assignment 8 Positioning Control of a Motor Using PD, PID, and Hybrid Control
GE420 Laboratory Assignment 8 Positioning Control of a Motor Using PD, PID, and Hybrid Control Goals for this Lab Assignment: 1. Design a PD discrete control algorithm to allow the closed-loop combination
MECHANICAL DESIGN LEARNING ENVIRONMENTS BASED ON VIRTUAL REALITY TECHNOLOGIES
INTERNATIONAL CONFERENCE ON ENGINEERING AND PRODUCT DESIGN EDUCATION 4 & 5 SEPTEMBER 2008, UNIVERSITAT POLITECNICA DE CATALUNYA, BARCELONA, SPAIN MECHANICAL DESIGN LEARNING ENVIRONMENTS BASED ON VIRTUAL
Andrea Zanchettin Automatic Control 1 AUTOMATIC CONTROL. Andrea M. Zanchettin, PhD Winter Semester, Linear control systems design Part 1
Andrea Zanchettin Automatic Control 1 AUTOMATIC CONTROL Andrea M. Zanchettin, PhD Winter Semester, 2018 Linear control systems design Part 1 Andrea Zanchettin Automatic Control 2 Step responses Assume
PROBLEM SET 5. Reminder: Quiz 1will be on March 6, during the regular class hour. Details to follow. z = e jω h[n] H(e jω ) H(z) DTFT.
![PROBLEM SET 5. Reminder: Quiz 1will be on March 6, during the regular class hour. Details to follow. z = e jω h[n] H(e jω ) H(z) DTFT.](/thumbs/96/129052141.jpg "PROBLEM SET 5. Reminder: Quiz 1will be on March 6, during the regular class hour. Details to follow. z = e jω h[n] H(e jω ) H(z) DTFT.")
PROBLEM SET 5 Issued: 2/4/9 Due: 2/22/9 Reading: During the past week we continued our discussion of the impact of pole/zero locations on frequency response, focusing on allpass systems, minimum and maximum-phase
Integrating PhysX and OpenHaptics: Efficient Force Feedback Generation Using Physics Engine and Haptic Devices
This is the Pre-Published Version. Integrating PhysX and Opens: Efficient Force Feedback Generation Using Physics Engine and Devices 1 Leon Sze-Ho Chan 1, Kup-Sze Choi 1 School of Nursing, Hong Kong Polytechnic
INVESTIGATION OF HARMONIC DETECTION TECHNIQUES FOR SHUNT ACTIVE POWER FILTER
IOSR Journal of Electronics & Communication Engineering (IOSR-JECE) ISSN(e) : 2278-1684 ISSN(p) : 2320-334X, PP 68-73 www.iosrjournals.org INVESTIGATION OF HARMONIC DETECTION TECHNIQUES FOR SHUNT ACTIVE
Application Research on BP Neural Network PID Control of the Belt Conveyor
Application Research on BP Neural Network PID Control of the Belt Conveyor Pingyuan Xi 1, Yandong Song 2 1 School of Mechanical Engineering Huaihai Institute of Technology Lianyungang 222005, China 2 School
EE422G Solution to Homework #8
EE4G Solution to Homework #8. MATLAB >> H = tf([ 4],[ 6 6]); >> H = tf([ ],[ - 5 5 4]); >> step(h).7 Step Response.6.5 Amplitude.4... 4 5 6 >> step(h) Time (sec).5 Step Response.5 Amplitude.5.5.5..5..5..5.4.45
Issues in the Haptic Display of Tool Use
Issues in the Haptic Display of Tool Use J. Edward Colgate Michael C. Stanley J. Michael Brown Department of Mechanical Engineering Northwestern University Evanston, IL 60208-3 11 1 Abstract Our group
Haptic Rendering CPSC / Sonny Chan University of Calgary
Haptic Rendering CPSC 599.86 / 601.86 Sonny Chan University of Calgary Today s Outline Announcements Human haptic perception Anatomy of a visual-haptic simulation Virtual wall and potential field rendering
Hybrid LQG-Neural Controller for Inverted Pendulum System
Hybrid LQG-Neural Controller for Inverted Pendulum System E.S. Sazonov Department of Electrical and Computer Engineering Clarkson University Potsdam, NY 13699-570 USA P. Klinkhachorn and R. L. Klein Lane
Increasing the Impedance Range of a Haptic Display by Adding Electrical Damping
Increasing the Impedance Range of a Haptic Display by Adding Electrical Damping Joshua S. Mehling * J. Edward Colgate Michael A. Peshkin (*)NASA Johnson Space Center, USA ( )Department of Mechanical Engineering,
MULTIRATE IIR LINEAR DIGITAL FILTER DESIGN FOR POWER SYSTEM SUBSTATION
MULTIRATE IIR LINEAR DIGITAL FILTER DESIGN FOR POWER SYSTEM SUBSTATION Riyaz Khan 1, Mohammed Zakir Hussain 2 1 Department of Electronics and Communication Engineering, AHTCE, Hyderabad (India) 2 Department
Three Phase Active Shunt Power Filter with Simple Control in PSIM Simulation
Three Phase Active Shunt Power Filter with Simple Control in PSIM Simulation A.Jeraldine viji Associate Professor, EEE department, Mailam Engineering College, Tamil Nadu E-mail: jeraldrovan@gmail.com Dr.M.Sudhakaran
6545(Print), ISSN (Online) Volume 4, Issue 1, January- February (2013), IAEME & TECHNOLOGY (IJEET)
INTERNATIONAL International Journal of JOURNAL Electrical Engineering OF ELECTRICAL and Technology (IJEET), ENGINEERING ISSN 0976 & TECHNOLOGY (IJEET) ISSN 0976 6545(Print) ISSN 0976 6553(Online) Volume
The Haptic Impendance Control through Virtual Environment Force Compensation
The Haptic Impendance Control through Virtual Environment Force Compensation OCTAVIAN MELINTE Robotics and Mechatronics Department Institute of Solid Mechanicsof the Romanian Academy ROMANIA octavian.melinte@yahoo.com
RoboCupJunior OnStage - Scoresheets 2018
RoboCupJunior OnStage - Scoresheets 2018 RoboCupJunior Onstage Technical Committee Susan Bowler (Australia) CHAIR Luis Morales (Mexico) Nicky Hughes (UK) Oscar Uribe (USA) Rui Baptista (Portugal) Shoko
Laboratory Assignment 1 Sampling Phenomena
1 Main Topics Signal Acquisition Audio Processing Aliasing, Anti-Aliasing Filters Laboratory Assignment 1 Sampling Phenomena 2.171 Analysis and Design of Digital Control Systems Digital Filter Design and
California University of Pennsylvania Department of Applied Engineering & Technology Electrical Engineering Technology
California University of Pennsylvania Department of Applied Engineering & Technology Electrical Engineering Technology < Use as a guide Do not copy and paste> EET 410 Design of Feedback Control Systems
Digital Control of MS-150 Modular Position Servo System
IEEE NECEC Nov. 8, 2007 St. John's NL 1 Digital Control of MS-150 Modular Position Servo System Farid Arvani, Syeda N. Ferdaus, M. Tariq Iqbal Faculty of Engineering, Memorial University of Newfoundland
DESIGN OF COMPENSATOR FOR DC-DC BUCK CONVERTER
DESIGN OF COMPENSATOR FOR DC-DC BUCK CONVERTER RAMYA H.S, SANGEETHA.K, SHASHIREKHA.M, VARALAKSHMI.K. SUPRIYA.P, ASSISTANT PROFESSOR Department of Electrical & Electronics Engineering, BNM Institute Of
Steady-Hand Teleoperation with Virtual Fixtures
Steady-Hand Teleoperation with Virtual Fixtures Jake J. Abbott 1, Gregory D. Hager 2, and Allison M. Okamura 1 1 Department of Mechanical Engineering 2 Department of Computer Science The Johns Hopkins
160 IEEE TRANSACTIONS ON POWER DELIVERY, VOL. 24, NO. 1, JANUARY /$ IEEE
160 IEEE TRANSACTIONS ON POWER DELIVERY, VOL. 24, NO. 1, JANUARY 2009 Dual Three-Winding Transformer Equivalent Circuit Matching Leakage Measurements Francisco de León, Senior Member, IEEE, and Juan A.
Analog Circuits and Systems
Analog Circuits and Systems Prof. K Radhakrishna Rao Lecture 31: Waveform Generation 1 Review Phase Locked Loop (self tuned filter) 2 nd order High Q low-pass output phase compared with the input 90 phase
EES42042 Fundamental of Control Systems Bode Plots
EES42042 Fundamental of Control Systems Bode Plots DR. Ir. Wahidin Wahab M.Sc. Ir. Aries Subiantoro M.Sc. 2 Bode Plots Plot of db Gain and phase vs frequency It is assumed you know how to construct Bode
Discretization of Continuous Controllers
Discretization of Continuous Controllers Thao Dang VERIMAG, CNRS (France) Discretization of Continuous Controllers One way to design a computer-controlled control system is to make a continuous-time design
This list supersedes the one published in the November 2002 issue of CR.
PERIODICALS RECEIVED This is the current list of periodicals received for review in Reviews. International standard serial numbers (ISSNs) are provided to facilitate obtaining copies of articles or subscriptions.
ISSN Vol.04,Issue.06, June-2016, Pages:
WWW.IJITECH.ORG ISSN 2321-8665 Vol.04,Issue.06, June-2016, Pages:1117-1121 Design and Development of IMC Tuned PID Controller for Disturbance Rejection of Pure Integrating Process G.MADHU KUMAR 1, V. SUMA
Fuzzy Adapting PID Based Boiler Drum Water Level Controller
IJSRD - International Journal for Scientific Research & Development Vol., Issue 0, 203 ISSN (online): 232-063 Fuzzy Adapting PID Based Boiler Drum ater Level Controller Periyasamy K Assistant Professor
Methodology for testing a regulator in a DC/DC Buck Converter using Bode 100 and SpCard
Methodology for testing a regulator in a DC/DC Buck Converter using Bode 100 and SpCard J. M. Molina. Abstract Power Electronic Engineers spend a lot of time designing their controls, nevertheless they
Wide Area Control Systems (1.4) Mani V. Venkatasubramanian Washington State University (
Wide Area Control Systems (1.4) Mani V. Venkatasubramanian Washington State University (email: mani@eecs.wsu.edu) PSERC Future Grid Initiative May 29, 2013 Task Objectives Wide-area control designs for
A PID Controller for Real-Time DC Motor Speed Control using the C505C Microcontroller
A PID Controller for Real-Time DC Motor Speed Control using the C505C Microcontroller Sukumar Kamalasadan Division of Engineering and Computer Technology University of West Florida, Pensacola, FL, 32513
Analysis and Design of Autonomous Microwave Circuits
Analysis and Design of Autonomous Microwave Circuits ALMUDENA SUAREZ IEEE PRESS WILEY A JOHN WILEY & SONS, INC., PUBLICATION Contents Preface xiii 1 Oscillator Dynamics 1 1.1 Introduction 1 1.2 Operational
ME 375 System Modeling and Analysis
ME 375 System Modeling and Analysis G(s) H(s) Section 9 Block Diagrams and Feedback Control Spring 2009 School of Mechanical Engineering Douglas E. Adams Associate Professor 9.1 Key Points to Remember
Analysis of Effect on Transient Stability of Interconnected Power System by Introduction of HVDC Link.
Analysis of Effect on Transient Stability of Interconnected Power System by Introduction of HVDC Link. Mr.S.B.Dandawate*, Mrs.S.L.Shaikh** *,**(Department of Electrical Engineering, Walchand College of
AN INNOVATIVE FEA METHODOLOGY FOR MODELING FASTENERS
AN INNOVATIVE FEA METHODOLOGY FOR MODELING FASTENERS MacArthur L. Stewart 1 1 Assistant Professor, Mechanical Engineering Technology Department, Eastern Michigan University, MI, USA Abstract Abstract Researchers
FPGA Based Time Domain Passivity Observer and Passivity Controller
9 IEEE/ASME International Conference on Advanced Intelligent Mechatronics Suntec Convention and Exhibition Center Singapore, July 14-17, 9 FPGA Based Time Domain Passivity Observer and Passivity Controller
USE OF WHITE NOISE IN TRACE/PARCS ANALYSIS OF ATWS WITH INSTABILITY
USE OF WHITE NOISE IN TRACE/PARCS ANALYSIS OF ATWS WITH INSTABILITY T. Zaki and P. Yarsky Nuclear Regulatory Commission Office of Nuclear Regulatory Research U.S. Nuclear Regulatory Commission, MS CSB-3A07M,
Application of Fuzzy Logic Controller in UPFC to Mitigate THD in Power System
International Journal of Engineering Research and Development e-issn: 2278-067X, p-issn: 2278-800X, www.ijerd.com Volume 9, Issue 8 (January 2014), PP. 25-33 Application of Fuzzy Logic Controller in UPFC
phri: specialization groups HS PRELIMINARY
phri: specialization groups HS 2019 - PRELIMINARY 1) VELOCITY ESTIMATION WITH HALL EFFECT SENSOR 2) VELOCITY MEASUREMENT: TACHOMETER VS HALL SENSOR 3) POSITION AND VELOCTIY ESTIMATION BASED ON KALMAN FILTER
Real-Time Bilateral Control for an Internet-Based Telerobotic System
708 Real-Time Bilateral Control for an Internet-Based Telerobotic System Jahng-Hyon PARK, Joonyoung PARK and Seungjae MOON There is a growing tendency to use the Internet as the transmission medium of
SMS045 - DSP Systems in Practice. Lab 1 - Filter Design and Evaluation in MATLAB Due date: Thursday Nov 13, 2003
SMS045 - DSP Systems in Practice Lab 1 - Filter Design and Evaluation in MATLAB Due date: Thursday Nov 13, 2003 Lab Purpose This lab will introduce MATLAB as a tool for designing and evaluating digital
Elements of Haptic Interfaces
Elements of Haptic Interfaces Katherine J. Kuchenbecker Department of Mechanical Engineering and Applied Mechanics University of Pennsylvania kuchenbe@seas.upenn.edu Course Notes for MEAM 625, University
Teleoperation and System Health Monitoring Mo-Yuen Chow, Ph.D.
Teleoperation and System Health Monitoring Mo-Yuen Chow, Ph.D. chow@ncsu.edu Advanced Diagnosis and Control (ADAC) Lab Department of Electrical and Computer Engineering North Carolina State University
EE 435. Lecture 34. Spectral Performance Windowing Quantization Noise
EE 435 Lecture 34 Spectral Performance Windowing Quantization Noise . Review from last lecture. Are there any strategies to address the problem of requiring precisely an integral number of periods to use