This document summarizes the workspace and singularity analysis of a delta-like family robot. It describes the kinematics and singularities of different delta robot architectures including Orthoglide, Hybridglide, Triaglide, and UraneSX. It presents the equations for parallel and serial singularities for each architecture. It also compares the complexity of singularities, computation of workspace boundaries, and joint space analysis between the different architectures. The document concludes with suggestions for future work on computing singularity-free robot paths.
Ph.D. Thesis : Ranjan JHA : Contributions to the Performance Analysis of Para...Dr. Ranjan Jha
Ph.D. Thesis Defense
Title: Contributions to the Performance Analysis of Parallel Robots
Venue: IRCCyN, Ecole Centrale de Nantes, France
Abstract: This doctoral thesis focuses on the different aspects which are associated with the efficient planning of desired tasks for parallel robots. These different aspects are mainly categorized into four parts, namely: workspace and joint space analysis, uniqueness domains, trajectory planning and accuracy analysis. The workspace and joint space analysis differentiate the regions with the different number of inverse kinematic solutions and direct kinematic solutions using a cylindrical algebraic decomposition algorithm, respectively. The influence of design parameters and joint limits on the workspace boundaries for the parallel robots are reported. Gr\"{o}bner based elimination methods are used to compute the parallel and serial singularities of the manipulator under study. The descriptive analysis of a family of delta-like robots is presented by using algebraic tools to induce an estimation about the complexity in representing the singularities in the workspace and the joint space. The generalized notions of aspects and uniqueness domains are defined for the parallel robot with several operation modes. The characteristic surfaces are also computed to define the uniqueness domains in the workspace. An algebraic method is proposed to check the feasibility of any given trajectory in the workspace to address the well-known problem which arises when there exists a singular configuration between the two poses of the end-effectors while discretizing the path with a classical approach. A Framework for the control loop of a parallel robot with several actuation modes is presented, which uses only the inverse geometric model. The accuracy analysis focuses on the estimation of errors in the pose of the end effector due to the joint's errors produced by the PID control loop. The proposed error model, which is based on the static and dynamic properties of the Orthoglide, helps in estimating the error in the Cartesian workspace.
An Algebraic Method to Check the Singularity-Free Paths for Parallel RobotsDr. Ranjan Jha
ASME 2015 International Design Engineering Technical Conferences / Computers and Information in Engineering Conference
Venue: Boston, Massachusetts, USA
Abstract: Trajectory planning is a critical step while programming the parallel manipulators in a robotic cell. The main problem arises when there exists a singular configuration between the two poses of the end-effectors while discretizing the path with a classical approach. This paper presents an algebraic method to check the feasibility of any given trajectories in the workspace. The solutions of the polynomial equations associated with the trajectories are projected into the joint space using Gr\"{o}bner based elimination methods and the remaining equations are expressed in a parametric form where the particular variables are functions of time $t$ unlike any numerical or discretization method.
These formal computations allow to write the Jacobian of the manipulator as a function of time and to check if its determinant can vanish between two poses. Another benefit of this approach is to use the largest workspace with a more complex shape than a cube, cylinder or sphere. For the Orthoglide, three degrees of freedom parallel robot, three different trajectories are used to illustrate this method.
Influence of Design Parameters on the Singularities and Workspace of a 3-RPS ...Dr. Ranjan Jha
CCToMM 2017 Symposium on Mechanisms, Machines, and Mechatronics (2015 CCToMM M3 Symposium)
Venue: Montreal, Canada
Abstract: This paper presents the variations in the workspace, singularities and joint space with respect to the design parameter $k$ of the 3-R\underline{P}S parallel manipulator. Also, the influence on the parasitic motions due to the design parameters is studied, which plays an important role in the selection of the manipulator for the desired task. The cylindrical algebraic decomposition method and Gr\"{o}bner based computations are used to model the workspace and joint space with the parallel singularities in 2R1T and 3T projection spaces, where the orientation of the mobile platform is represented by using quaternions. These computations are useful to select the optimum value for the design parameter such that the parasitic motions can be limited to specific values. Depending on the design parameter $k$, three different configurations of the 3-R\underline{P}S parallel robot are analyzed.
Influence of the trajectory planning on the accuracy of the Orthoglide 5-axisDr. Ranjan Jha
ASME 2016 International Design Engineering Technical Conferences\Computers and Information in Engineering Conference
Venue: Charlotte, North Carolina, USA
Abstract: Usually, the accuracy of parallel manipulators depends on the architecture of the robot, the design parameters, the trajectory planning and the location of the path in the workspace. This paper reports the influence of static and dynamic parameters in computing the error in the pose associated with the trajectory planning made and analyzed with the Orthoglide 5-axis. An error model is proposed based on the joint parameters (velocity and acceleration) and experimental data coming from the Orthoglide 5-axis. Newton and Gr\"{o}bner based elimination methods are used to project the joint error in the workspace to check the accuracy/error in the Cartesian space. For the analysis, five similar trajectories with different locations inside the workspace are defined using fifth order polynomial equation for the trajectory planning. It is shown that the accuracy of the robot depends on the location of the path as well as the starting and the ending posture of the manipulator due to the acceleration parameters.
Ph.D. Thesis : Ranjan JHA : Contributions to the Performance Analysis of Para...Dr. Ranjan Jha
Ph.D. Thesis Defense
Title: Contributions to the Performance Analysis of Parallel Robots
Venue: IRCCyN, Ecole Centrale de Nantes, France
Abstract: This doctoral thesis focuses on the different aspects which are associated with the efficient planning of desired tasks for parallel robots. These different aspects are mainly categorized into four parts, namely: workspace and joint space analysis, uniqueness domains, trajectory planning and accuracy analysis. The workspace and joint space analysis differentiate the regions with the different number of inverse kinematic solutions and direct kinematic solutions using a cylindrical algebraic decomposition algorithm, respectively. The influence of design parameters and joint limits on the workspace boundaries for the parallel robots are reported. Gr\"{o}bner based elimination methods are used to compute the parallel and serial singularities of the manipulator under study. The descriptive analysis of a family of delta-like robots is presented by using algebraic tools to induce an estimation about the complexity in representing the singularities in the workspace and the joint space. The generalized notions of aspects and uniqueness domains are defined for the parallel robot with several operation modes. The characteristic surfaces are also computed to define the uniqueness domains in the workspace. An algebraic method is proposed to check the feasibility of any given trajectory in the workspace to address the well-known problem which arises when there exists a singular configuration between the two poses of the end-effectors while discretizing the path with a classical approach. A Framework for the control loop of a parallel robot with several actuation modes is presented, which uses only the inverse geometric model. The accuracy analysis focuses on the estimation of errors in the pose of the end effector due to the joint's errors produced by the PID control loop. The proposed error model, which is based on the static and dynamic properties of the Orthoglide, helps in estimating the error in the Cartesian workspace.
An Algebraic Method to Check the Singularity-Free Paths for Parallel RobotsDr. Ranjan Jha
ASME 2015 International Design Engineering Technical Conferences / Computers and Information in Engineering Conference
Venue: Boston, Massachusetts, USA
Abstract: Trajectory planning is a critical step while programming the parallel manipulators in a robotic cell. The main problem arises when there exists a singular configuration between the two poses of the end-effectors while discretizing the path with a classical approach. This paper presents an algebraic method to check the feasibility of any given trajectories in the workspace. The solutions of the polynomial equations associated with the trajectories are projected into the joint space using Gr\"{o}bner based elimination methods and the remaining equations are expressed in a parametric form where the particular variables are functions of time $t$ unlike any numerical or discretization method.
These formal computations allow to write the Jacobian of the manipulator as a function of time and to check if its determinant can vanish between two poses. Another benefit of this approach is to use the largest workspace with a more complex shape than a cube, cylinder or sphere. For the Orthoglide, three degrees of freedom parallel robot, three different trajectories are used to illustrate this method.
Influence of Design Parameters on the Singularities and Workspace of a 3-RPS ...Dr. Ranjan Jha
CCToMM 2017 Symposium on Mechanisms, Machines, and Mechatronics (2015 CCToMM M3 Symposium)
Venue: Montreal, Canada
Abstract: This paper presents the variations in the workspace, singularities and joint space with respect to the design parameter $k$ of the 3-R\underline{P}S parallel manipulator. Also, the influence on the parasitic motions due to the design parameters is studied, which plays an important role in the selection of the manipulator for the desired task. The cylindrical algebraic decomposition method and Gr\"{o}bner based computations are used to model the workspace and joint space with the parallel singularities in 2R1T and 3T projection spaces, where the orientation of the mobile platform is represented by using quaternions. These computations are useful to select the optimum value for the design parameter such that the parasitic motions can be limited to specific values. Depending on the design parameter $k$, three different configurations of the 3-R\underline{P}S parallel robot are analyzed.
Influence of the trajectory planning on the accuracy of the Orthoglide 5-axisDr. Ranjan Jha
ASME 2016 International Design Engineering Technical Conferences\Computers and Information in Engineering Conference
Venue: Charlotte, North Carolina, USA
Abstract: Usually, the accuracy of parallel manipulators depends on the architecture of the robot, the design parameters, the trajectory planning and the location of the path in the workspace. This paper reports the influence of static and dynamic parameters in computing the error in the pose associated with the trajectory planning made and analyzed with the Orthoglide 5-axis. An error model is proposed based on the joint parameters (velocity and acceleration) and experimental data coming from the Orthoglide 5-axis. Newton and Gr\"{o}bner based elimination methods are used to project the joint error in the workspace to check the accuracy/error in the Cartesian space. For the analysis, five similar trajectories with different locations inside the workspace are defined using fifth order polynomial equation for the trajectory planning. It is shown that the accuracy of the robot depends on the location of the path as well as the starting and the ending posture of the manipulator due to the acceleration parameters.
Identification of unknown parameters and prediction of missing values. Compar...Alexander Litvinenko
H-matrix approximation of large Mat\'{e}rn covariance matrices, Gaussian log-likelihoods.
Identifying unknown parameters and making predictions
Comparison with machine learning methods.
kNN is easy to implement and shows promising results.
Digital Signals and Systems (April – 2017) [Question Paper | CBSGS: 75:25 Pat...Mumbai B.Sc.IT Study
Digital Signals and Systems (April – 2017) [Question Paper | CBSGS: 75:25 Pattern]
april - 2017, april - 2016, april - 2015, april - 2014, april - 2013, october - 2017, october - 2016, october - 2015, october - 2014, may - 2016, may - 2017, december - 2017, 75:25 pattern, 60:40 pattern, revised course, old course, mumbai bscit study, mumbai university, bscit semester vi, bscit question paper, old question paper, previous year question paper, semester vi question paper, question paper, CBSGS, IDOL, kamal t, internet technology, digital signals and systems, data warehousing, ipr and cyber laws, project management, geographic information system
Hierarchical matrix techniques for maximum likelihood covariance estimationAlexander Litvinenko
1. We apply hierarchical matrix techniques (HLIB, hlibpro) to approximate huge covariance matrices. We are able to work with 250K-350K non-regular grid nodes.
2. We maximize a non-linear, non-convex Gaussian log-likelihood function to identify hyper-parameters of covariance.
Low-rank matrix approximations in Python by Christian Thurau PyData 2014PyData
Low-rank approximations of data matrices have become an important tool in machine learning and data mining. They allow for embedding high dimensional data in lower dimensional spaces and can therefore mitigate effects due to noise, uncover latent relations, or facilitate further processing. These properties have been proven successful in many application areas such as bio-informatics, computer vision, text processing, recommender systems, social network analysis, among others. Present day technologies are characterized by exponentially growing amounts of data. Recent advances in sensor technology, internet applications, and communication networks call for methods that scale to very large and/or growing data matrices. In this talk, we will describe how to efficiently analyze data by means of matrix factorization using the Python Matrix Factorization Toolbox (PyMF) and HDF5. We will briefly cover common methods such as k-means clustering, PCA, or Archetypal Analysis which can be easily cast as a matrix decomposition, and explain their usefulness for everyday data analysis tasks.
Digital Signals and Systems (October – 2016) [Question Paper | IDOL: Revised ...Mumbai B.Sc.IT Study
Data Warehousing (April – 2016) [Question Paper | CBSGS: 75:25 Pattern]
april - 2017, april - 2016, april - 2015, april - 2014, april - 2013, october - 2017, october - 2016, october - 2015, october - 2014, may - 2016, may - 2017, december - 2017, 75:25 pattern, 60:40 pattern, revised course, old course, mumbai bscit study, mumbai university, bscit semester vi, bscit question paper, old question paper, previous year question paper, semester vi question paper, question paper, CBSGS, IDOL, kamal t, internet technology, digital signals and systems, data warehousing, ipr and cyber laws, project management, geographic information system
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
Theories and Engineering Technics of 2D-to-3D Back-Projection ProblemSeongcheol Baek
The slides introduce mathematical basics of 3d-to-2d image projection, 2d-to-3d back-projection problem, and its engineering technics, such as convex optimization problem, principal component analysis (PCV), singular value decomposition (SVD), etc.
Vibration analysis and response characteristics of a half car model subjected...editorijrei
The displacement response of different masses of half car model. The analysis has been done for different car models also to see the dynamic response of the driver body coupled with the seat of a vehicle. It has been assumed the driver body is rigidly coupled with seat of the vehicle. The vehicle has been modeled for two D.O.F, in two D.O.F Half car model two motion (Pitch and Bounce) have been considered. The response of the vehicle has been obtained for different velocities and different amplitudes sinusoidal bump excitation.
Identification of unknown parameters and prediction of missing values. Compar...Alexander Litvinenko
H-matrix approximation of large Mat\'{e}rn covariance matrices, Gaussian log-likelihoods.
Identifying unknown parameters and making predictions
Comparison with machine learning methods.
kNN is easy to implement and shows promising results.
Digital Signals and Systems (April – 2017) [Question Paper | CBSGS: 75:25 Pat...Mumbai B.Sc.IT Study
Digital Signals and Systems (April – 2017) [Question Paper | CBSGS: 75:25 Pattern]
april - 2017, april - 2016, april - 2015, april - 2014, april - 2013, october - 2017, october - 2016, october - 2015, october - 2014, may - 2016, may - 2017, december - 2017, 75:25 pattern, 60:40 pattern, revised course, old course, mumbai bscit study, mumbai university, bscit semester vi, bscit question paper, old question paper, previous year question paper, semester vi question paper, question paper, CBSGS, IDOL, kamal t, internet technology, digital signals and systems, data warehousing, ipr and cyber laws, project management, geographic information system
Hierarchical matrix techniques for maximum likelihood covariance estimationAlexander Litvinenko
1. We apply hierarchical matrix techniques (HLIB, hlibpro) to approximate huge covariance matrices. We are able to work with 250K-350K non-regular grid nodes.
2. We maximize a non-linear, non-convex Gaussian log-likelihood function to identify hyper-parameters of covariance.
Low-rank matrix approximations in Python by Christian Thurau PyData 2014PyData
Low-rank approximations of data matrices have become an important tool in machine learning and data mining. They allow for embedding high dimensional data in lower dimensional spaces and can therefore mitigate effects due to noise, uncover latent relations, or facilitate further processing. These properties have been proven successful in many application areas such as bio-informatics, computer vision, text processing, recommender systems, social network analysis, among others. Present day technologies are characterized by exponentially growing amounts of data. Recent advances in sensor technology, internet applications, and communication networks call for methods that scale to very large and/or growing data matrices. In this talk, we will describe how to efficiently analyze data by means of matrix factorization using the Python Matrix Factorization Toolbox (PyMF) and HDF5. We will briefly cover common methods such as k-means clustering, PCA, or Archetypal Analysis which can be easily cast as a matrix decomposition, and explain their usefulness for everyday data analysis tasks.
Digital Signals and Systems (October – 2016) [Question Paper | IDOL: Revised ...Mumbai B.Sc.IT Study
Data Warehousing (April – 2016) [Question Paper | CBSGS: 75:25 Pattern]
april - 2017, april - 2016, april - 2015, april - 2014, april - 2013, october - 2017, october - 2016, october - 2015, october - 2014, may - 2016, may - 2017, december - 2017, 75:25 pattern, 60:40 pattern, revised course, old course, mumbai bscit study, mumbai university, bscit semester vi, bscit question paper, old question paper, previous year question paper, semester vi question paper, question paper, CBSGS, IDOL, kamal t, internet technology, digital signals and systems, data warehousing, ipr and cyber laws, project management, geographic information system
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
Theories and Engineering Technics of 2D-to-3D Back-Projection ProblemSeongcheol Baek
The slides introduce mathematical basics of 3d-to-2d image projection, 2d-to-3d back-projection problem, and its engineering technics, such as convex optimization problem, principal component analysis (PCV), singular value decomposition (SVD), etc.
Vibration analysis and response characteristics of a half car model subjected...editorijrei
The displacement response of different masses of half car model. The analysis has been done for different car models also to see the dynamic response of the driver body coupled with the seat of a vehicle. It has been assumed the driver body is rigidly coupled with seat of the vehicle. The vehicle has been modeled for two D.O.F, in two D.O.F Half car model two motion (Pitch and Bounce) have been considered. The response of the vehicle has been obtained for different velocities and different amplitudes sinusoidal bump excitation.
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
Insect inspired hexapod robot for terrain navigationeSAT Journals
Abstract The aim of this paper is to build a sixlegged walking robot that is capable of basicmobility tasks such as walking forward, backward, rotating in place and raising orlowering the body height. The legs will be of a modular design and will have threedegrees of freedom each. This robot will serve as a platform onto which additionalsensory components could be added, or which could be programmed to performincreasingly complex motions. This report discusses the components that make up ourfinal design.In this paper we have selected ahexapod robot; we are focusing &developingmainly on efficient navigation method indifferent terrain using opposite gait of locomotion, which will make it faster and at sametime energy efficient to navigate and negotiate difficult terrain.This paper discuss the Features, development, and implementation of the Hexapod robot Index Terms:Biologically inspired, Gait Generation,Legged hexapod, Navigation.
Simultaneous State and Actuator Fault Estimation With Fuzzy Descriptor PMID a...Waqas Tariq
In this paper, Takagi-Sugeno (T-S) fuzzy descriptor proportional multiple-integral derivative (PMID) and Proportional-Derivative (PD) observer methods that can estimate the system states and actuator faults simultaneously are proposed. T-S fuzzy model is obtained by linearsing satellite/spacecraft attitude dynamics at suitable operating points. For fault estimation, actuator fault is introduced as state vector to develop augmented descriptor system and robust fuzzy PMID and PD observers are developed. Stability analysis is performed using Lyapunov direct method. The convergence conditions of state estimation error are formulated in the form of LMI (linear matrix inequality). Derivative gain, obtained using singular value decomposition of descriptor state matrix (E), gives more design degrees of freedom together with proportional and integral gains obtained from LMI. Simulation study is performed for our proposed methods.
A New Method For Solving Kinematics Model Of An RA-02IJERA Editor
The kinematics miniature are established for a 4 DOF robotic arm. Denavit-Hartenberg (DH) convention and the
product of exponential formula are used for solving kinematic problem based on screw theory. For acquiring
simple matrix for inverse kinematics a new simple method is derived by solving problems like robot base
movement, actuator restoration. Simulations are done by using MATlab programming for the kinematics
exemplary.
Formulas for Surface Weighted Numbers on Graphijtsrd
The boundary value problem differential operator on the graph of a specific structure is discussed in this article. The graph has degree 1 vertices and edges that are linked at one common vertex. The differential operator expression with real valued potentials, the Dirichlet boundary conditions, and the conventional matching requirements define the boundary value issue. There are a finite number of eig nv lu s in this problem.The residues of the diagonal elements of the Weyl matrix in the eigenvalues are referred to as weight numbers. The ig nv lu s are monomorphic functions with simple poles.The weight numbers under consideration generalize the weight numbers of differential operators on a finite interval, which are equal to the reciprocals of the squared norms of eigenfunctions. These numbers, along with the eig nv lu s, serve as spectral data for unique operator reconstruction. The contour integration is used to obtain formulas for surfacethe weight numbers, as well as formulas for the sums in the case of superficial near ig nv lu s. On the graphs, the formulas can be utilized to analyze inverse spectral problems. Ghulam Hazrat Aimal Rasa "Formulas for Surface Weighted Numbers on Graph" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-6 | Issue-3 , April 2022, URL: https://www.ijtsrd.com/papers/ijtsrd49573.pdf Paper URL: https://www.ijtsrd.com/mathemetics/calculus/49573/formulas-for-surface-weighted-numbers-on-graph/ghulam-hazrat-aimal-rasa
This paper deals with the dynamic characterization of an
automotive shock absorber, a continuation of an earlier
work Vibration is undesirable, not only because of the
unpleasant motion, the noise and the dynamic stresses,
which may lead to fatigue and failure of the structure, but
also because of the energy losses and the reduction in
performance which accompany the vibrations [1].
Vibration analysis should be carried out as an inherent part
of the design because of the devastating effects, which
unwanted vibrations could have on machines and
structures.
The Geometric Characteristics of the Linear Features in Close Range Photogram...IJERD Editor
The accuracy of photogrammetry can be increased with better instruments, careful geometric
characteristics of the system, more observations and rigorous adjustment. The main objective of this research is
to develop a new mathematical model of two types of linear features (straight line, spline curve) in addition to
relating linear features in object space to the image space using the Direct Linear Transformation (DLT). The
second main objective of the present paper is to study of some geometric characteristics of the system, when the
linear features are used in close range photogrammetric reduction processes. In this research, the accuracy
improvement has been evaluated by adopting certain assessment criteria, this will be performed by computing
the positional discrepancies between the photogrammetrically calculated object space coordinates of some check
object points, with the original check points of the test field, in terms of their respective RMS errors values. In
addition, the resulting least squares estimated covariance matrices of the check object point's space coordinates.
To perform the above purposes, some experiments are performed with synthetic images. The obtained results
showed significant improvements in the positional accuracy of close range photogrammetry, when starting node,
end nodes, and interior node on straight line and spline curve are increased with certain specifications regarding
the location and magnitude of each type of them.
A NOVEL NAVIGATION STRATEGY FOR AN UNICYCLE MOBILE ROBOT INSPIRED FROM THE DU...JaresJournal
This paper deals with the design and the implementation of a novel navigation strategy for an unicycle
mobile robot. The strategy of navigation is inspired from nature (the duck walking) in the closed loop.
Therefore, a single sensor (gyroscope) is used to determine the pose of the robot, hence the proposed name
"gyroscopic navigation". A global presentation of the novel strategy and the robot and with its different
components are given. An experimental identification for the useful parameters are then exhibited.
Moreover, the controller design strategy and the simulation results are given. Finally, real time
experiments are accomplished to valid the simulation results.
The cubic root unscented kalman filter to estimate the position and orientat...IJECEIAES
In this paper we introduce a cubic root unscented kalman filter (CRUKF) compared to the unscented kalman filter (UKF) for calculating the covariance cubic matrix and covariance matrix within a sensor fusion algorithm to estimate the measurements of an omnidirectional mobile robot trajectory. We study the fusion of the data obtained by the position and orientation with a good precision to localize the robot in an external medium; we apply the techniques of kalman filter (KF) to the estimation of the trajectory. We suppose a movement of mobile robot on a plan in two dimensions. The sensor approach is based on the CRUKF and too on the standard UKF which are modified to handle measurements from the position and orientation. A real-time implementation is done on a three-wheeled omnidirectional mobile robot, using a dynamic model with trajectories. The algorithm is analyzed and validated with simulations.
Design and analysis of x y- positioning stage based on redundant parallel li...eSAT Journals
Abstract This paper presents the concept of a planar positioning stage based on a kinematically redundant parallel linkage. Basic kinematics and workspace analysis of base redundant manipulator is initially explained and the procedure of static analysis to predict the actuated joint torques is described. As there are six actuators in the linkage, the redundancy can be overcome by proper selection of the base joint variables. Also it is assumed that the motion is at a constant speed. A numerical example is shown with a straight line trajectory to illustrate the workspace and joint force calculation aspects of this linkage. The possible arrangement of the stage with electrostatic actuation and sensing are finally highlighted. Keywords: Kinematic redundancy, Parallel mechanism, Static analysis, and Workspace characteristics
Sachpazis:Terzaghi Bearing Capacity Estimation in simple terms with Calculati...Dr.Costas Sachpazis
Terzaghi's soil bearing capacity theory, developed by Karl Terzaghi, is a fundamental principle in geotechnical engineering used to determine the bearing capacity of shallow foundations. This theory provides a method to calculate the ultimate bearing capacity of soil, which is the maximum load per unit area that the soil can support without undergoing shear failure. The Calculation HTML Code included.
NO1 Uk best vashikaran specialist in delhi vashikaran baba near me online vas...Amil Baba Dawood bangali
Contact with Dawood Bhai Just call on +92322-6382012 and we'll help you. We'll solve all your problems within 12 to 24 hours and with 101% guarantee and with astrology systematic. If you want to take any personal or professional advice then also you can call us on +92322-6382012 , ONLINE LOVE PROBLEM & Other all types of Daily Life Problem's.Then CALL or WHATSAPP us on +92322-6382012 and Get all these problems solutions here by Amil Baba DAWOOD BANGALI
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Cosmetic shop management system project report.pdfKamal Acharya
Buying new cosmetic products is difficult. It can even be scary for those who have sensitive skin and are prone to skin trouble. The information needed to alleviate this problem is on the back of each product, but it's thought to interpret those ingredient lists unless you have a background in chemistry.
Instead of buying and hoping for the best, we can use data science to help us predict which products may be good fits for us. It includes various function programs to do the above mentioned tasks.
Data file handling has been effectively used in the program.
The automated cosmetic shop management system should deal with the automation of general workflow and administration process of the shop. The main processes of the system focus on customer's request where the system is able to search the most appropriate products and deliver it to the customers. It should help the employees to quickly identify the list of cosmetic product that have reached the minimum quantity and also keep a track of expired date for each cosmetic product. It should help the employees to find the rack number in which the product is placed.It is also Faster and more efficient way.
Industrial Training at Shahjalal Fertilizer Company Limited (SFCL)MdTanvirMahtab2
This presentation is about the working procedure of Shahjalal Fertilizer Company Limited (SFCL). A Govt. owned Company of Bangladesh Chemical Industries Corporation under Ministry of Industries.
Immunizing Image Classifiers Against Localized Adversary Attacksgerogepatton
This paper addresses the vulnerability of deep learning models, particularly convolutional neural networks
(CNN)s, to adversarial attacks and presents a proactive training technique designed to counter them. We
introduce a novel volumization algorithm, which transforms 2D images into 3D volumetric representations.
When combined with 3D convolution and deep curriculum learning optimization (CLO), itsignificantly improves
the immunity of models against localized universal attacks by up to 40%. We evaluate our proposed approach
using contemporary CNN architectures and the modified Canadian Institute for Advanced Research (CIFAR-10
and CIFAR-100) and ImageNet Large Scale Visual Recognition Challenge (ILSVRC12) datasets, showcasing
accuracy improvements over previous techniques. The results indicate that the combination of the volumetric
input and curriculum learning holds significant promise for mitigating adversarial attacks without necessitating
adversary training.
Welcome to WIPAC Monthly the magazine brought to you by the LinkedIn Group Water Industry Process Automation & Control.
In this month's edition, along with this month's industry news to celebrate the 13 years since the group was created we have articles including
A case study of the used of Advanced Process Control at the Wastewater Treatment works at Lleida in Spain
A look back on an article on smart wastewater networks in order to see how the industry has measured up in the interim around the adoption of Digital Transformation in the Water Industry.
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1. Ranjan Jha1, Damien Chablat1, Fabrice Rouillier2, Guillaume Moroz3
Workspace and Singularity Analysis of
a Delta Like Family Robot
1Institut de Recherche en Communications et Cybernetique de Nantes, UMR CNRS 6597, France
2INRIA Paris-Rocquencourt, Institut de Mathematiques de Jussieu, UMR CNRS 7586, France
3INRIA Nancy-Grand Est, France
Futuroscope, Poitiers – June 2015
3. Assembly modes
(No. of Solns.)
• Study of all the geometrical and time-based properties of the motion
Working modes[1]
(No. of Solns.)
Kinematics : IKP & DKP
Given Pose Variables
Compute Pose Variables
Compute Joint Variables
Workspace
Given Joint Variables
Jointspace
Direct kinematics Problem
Inverse kinematics Problem
1
2
𝜌 = γ(X)
X = β(𝝆)
3
5. Orthoglide Architecture & Kinematics
(𝑥 − 𝜌1)2
+ 𝑦2
+ 𝑧2
= 𝐿2
𝑥2 + (𝑦 − 𝜌2)2+ 𝑧2 = 𝐿2
𝑥2 + 𝑦2 + (𝑧 − 𝜌3)2= 𝐿2
A3
A1
B1
A2
B2
B3
P
• The kinematics constraints imposed by the limbs will lead to a series of three
constraint equations[10]:
=
𝑥
𝑦
𝑧
𝐴𝑖 𝐵𝑖 = 𝜌𝑖
𝐵𝑖 𝑃 = L i = 1, 2, 3
Ϝ(X, 𝜌) :
χ(𝜌) : 0 < 𝜌i ≤ 2𝐿 Joint Limits
5
6. Hybridglide Architecture & Kinematics
(𝑥 − 1)2
+ (𝑦 − 𝜌1)2
+ 𝑧2
= 𝐿2
(𝑥 + 1)2 + (𝑦 − 𝜌2)2 + 𝑧2 = 𝐿2
𝑥2 + 𝑦2 + (𝑧 − 𝜌3)2= 𝐿2
• The kinematics constraints imposed by the limbs will lead to a series of three
constraint equations:
A3
A1
B1
A2
B2
B3
P =
𝑥
𝑦
𝑧
𝐴𝑖 𝐵𝑖 = 𝜌𝑖
𝐵𝑖 𝑃 = L i = 1, 2, 3
Ϝ(X, 𝜌) :
χ(𝜌) : 0 < 𝜌i ≤ 2𝐿 Joint Limits
6
7. Triaglide Architecture & Kinematics
• The kinematics constraints imposed by the limbs will lead to a series of three
constraint equations:
A3
A1
B1A2
B2
B3
P =
𝑥
𝑦
𝑧
(𝑥 − 1)2
+ (𝑦 − 𝜌1)2
+ 𝑧2
= 𝐿2
(𝑥 + 1)2 + (𝑦 − 𝜌2)2 + 𝑧2 = 𝐿2
𝑥2 + (𝑦 − 𝜌3)2 + (𝑧)2= 𝐿2
𝐴𝑖 𝐵𝑖 = 𝜌𝑖
𝐵𝑖 𝑃 = L i = 1, 2, 3
Ϝ(X, 𝜌) :
χ(𝜌) : 0 < 𝜌i ≤ 2𝐿 Joint Limits
7
8. UraneSX Architecture & Kinematics
• The kinematics constraints imposed by the limbs will lead to a series of three
constraint equations:
A3
A1
B1
A2
B2
B3
P =
𝑥
𝑦
𝑧
(𝑥 − 1)2
+ (𝑦)2
+ (𝑧 − 𝜌1)2
= 𝐿2
(𝑥 + 1/2)2
+ (𝑦 − 3/2)2
+ (𝑧 − 𝜌2)2
= 𝐿2
(𝑥 + 1/2)2 + (𝑦 + 3/2)2 + (𝑧 − 𝜌3)2= 𝐿2
𝐴𝑖 𝐵𝑖 = 𝜌𝑖
𝐵𝑖 𝑃 = L i = 1, 2, 3
Ϝ(X, 𝜌) :
χ(𝜌) : 0 < 𝜌i ≤ 2𝐿 Joint Limits
8
9. A 𝑿 + B 𝝆 = 0 where 𝐀 =
𝜕Ϝ
𝜕𝑋
and 𝐁 =
𝜕Ϝ
𝜕𝜌
Point at which a given mathematical object is not defined, or where it fails to be well-behaved in
some particular way
MAPLE -- SIROPA library -- Groëbner based elimination[13]
Differentiating kinematics constraint equation with respect to time leads to the velocity model:
• det(A) = 0 : Type2 Singularity or
Parallel Singularities
• Mapping tool velocity to joint velocity
(ill-conditioned)
• Loses stifness, motion exists when
actuators are locked[10]
• det(B) = 0 : Type1 Singularity or Serial
Singularities
• Mapping joint velocity to tool velocity
(ill-conditioned)
• Loses one degree of freedom
Singularities
9
10. A 𝑿 + B 𝝆 = 0 where 𝐀 =
𝜕Ϝ
𝜕𝑋
and 𝐁 =
𝜕Ϝ
𝜕𝜌
Singularities
𝜕𝜑1
𝜕𝑥
𝜕𝜑1
𝜕𝑦
𝜕𝜑1
𝜕𝑧
𝜕𝜑2
𝜕𝑥
𝜕𝜑2
𝜕𝑦
𝜕𝜑2
𝜕𝑧
𝜕𝜑3
𝜕𝑥
𝜕𝜑3
𝜕𝑦
𝜕𝜑3
𝜕𝑧
𝜌1 = 𝜑1(x, y, z)
𝜌2 = 𝜑2(x, y, z)
𝜌3 = 𝜑3(x, y, z)
𝐀 =
• Easy to compute in this form for family of
Deltla-like robots
10
11. Workspace JointspaceOrthoglide Singularities
det 𝐀 = -8 𝝆1 𝝆2 𝝆3 + 8 𝝆1 𝝆2 𝒙 + 8 𝝆1 𝝆3y + 8 𝝆2 𝝆3 x
det 𝐁 = 8 (𝝆1 - x)(𝝆2 – y)(𝝆3 - z)
det 𝐀 → 𝜉(𝝆) det(𝐀) → µ(𝑿)
Projection in Joint space Projection in Workspace
det(𝐁) → ƒ(𝝆) det(𝐁) → ß(𝑿)
Projection in Joint space Projection in Workspace
11
12. Workspace JointspaceHybridglide Singularities
det 𝐀 = -8𝝆1 𝝆3x + 8𝝆2 𝝆3 𝒙 - 8𝝆1 𝝆3 + 8𝜌1z - 8𝝆2 𝝆3 + 8𝜌2z +16𝝆3 y
det 𝐁 = 8 (𝝆1 - y)(𝝆2 – y)(𝝆3 - z)
det 𝐀 → 𝜉(𝝆) det(𝐀) → µ(𝑿)
Projection in Joint space Projection in Workspace
det(𝐁) → ƒ(𝝆) det(𝐁) → ß(𝑿)
Projection in Joint space Projection in Workspace
12
13. Workspace JointspaceTriaglide Singularities
det 𝐀 = 8 𝝆1z + 8 𝝆2 𝒛 - 16 𝝆3z
det 𝐁 = 8 (𝝆1 - y)(𝝆2 – y)(𝝆3 -y)
det 𝐀 → 𝜉(𝝆) det(𝐀) → µ(𝑿)
Projection in Joint space Projection in Workspace
det(𝐁) → ƒ(𝝆) det(𝐁) → ß(𝑿)
Projection in Joint space Projection in Workspace
13
14. Workspace JointspaceUraneSX Singularities
det 𝐀 = 4 𝟑(3z-𝝆1-𝝆2-𝝆3 + 𝜌2x+𝜌3x-2𝝆1x)+12𝜌3y-12𝜌2y
det 𝐁 = 8 (𝝆1 - z)(𝝆2 – z)(𝝆3 - z)
det 𝐀 → 𝜉(𝝆) det(𝐀) → µ(𝑿)
Projection in Joint space Projection in Workspace
det(𝐁) → ƒ(𝝆) det(𝐁) → ß(𝑿)
Projection in Joint space Projection in Workspace
14
15. Manipulators Types of
Singularities
Plotting Time
(s)
Degrees No. of Terms Binary SIze No. of Cells
Orthoglide Parallel 0037.827 18[10,10,10] 097 015 [02382,0272]
Serial 0005.133 18[12,12,12] 062 012 [00044,0004]
Hybridglide Parallel 5698.601 20[16,08,12] 119 017 [28012,1208]
Serial 0007.007 18[12,12,12] 281 017 [00158,0027]
Triaglide Parallel 0010.625 03[00,00,03] 002 002 [00138,0004]
Serial 0005.079 06[06,06,06] 042 007 [00077,0017]
UraneSX Parallel 0022.625 06[06,04,00] 015 040 [02795,0070]
Serial 0018.391 12[12,12,12] 252 151 [00392,0142]
Complexity of Singularities
Parallel : Projection in Workspace
Serial : Projection in Joint space
Highest power [Degrees in diff Variables]
Cylindrical Algebraic Decomposition(CAD)Cylindrical Algebraic Decomposition(CAD)
Discriminant variety, Groebner Bases
Computation Total No. Of terms in Function
log2 𝑀𝑎𝑥(𝐶𝑜𝑒𝑓𝑓𝑖𝑐𝑖𝑒𝑛𝑡 𝑖𝑛 𝐹𝑢𝑛𝑐𝑡𝑖𝑜𝑛)
15
16. Workspace Computation
Sample Points
Cells
Cylindrical Algebraic Decomposition (CAD)
Cell Formulation
Different Aspects can be extracted based on
the cell properties
Different regions with different number of
solutions of IKP
16
21. Conclusions
• Singularity Computations using algebraic tools
• Singularity surfaces with the projections of joint limits
• Accurate computation of workspace Boundaries
• Complexity analysis of singularities
• Workspace computations and comparison
21
22. Future Work
P1
P2
• Singularity Surface
• Singularity Free path
• To compute the path, which do not intersect the
singularity surface anywhere.
22
23. References
1] Chablat D., Wenger Ph., Working Modes and Aspects in Fully-Parallel Manipulator, Proceeding IEEE International Conference on Robotics and
Automation, pp. 1964-1969, May 1998.
[2] Chablat D., Jha R., Rouillier F., Moroz G., Workspace and joint space analysis of the 3-RPS parallel robot, In: Proceedings of ASME 2014
International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Buffalo, United States, pp. 1–10,
2014
[3] Chablat D., Jha R., Rouillier F., Moroz G., Non-singular assembly mode changing trajectories in the workspace for the 3-RPS parallel robot, 14th
International Symposium on Advances in Robot Kinematics, Ljubljana, Slovenia, 2014.
[4] Merlet J-P., Parallel robots, Springer, Vol. 74, 2001.
[5] Siciliano, B. and Khatib, O., Springer handbook of robotics, Springer, 2008.
[6] Chablat D., Wenger P., Majou F. et Merlet J.P., An Interval Analysis Based Study for the Design and the Comparison of 3-DOF Parallel Kinematic
Machines, International Journal of Robotics Research, pp. 615-624, Vol 23(6), juin 2004.
[7] Ilian A. Bonev, Jeha Ryu, A new approach to orientation workspace analysis of 6-DOF parallel manipulators, Mechanism and Machine Theory, V
ol 36/1, pp. 15–28,2001.
[8] Sefrioui J., Gosselin C., Singularity analysis and representation of planar parallel manipulators, Robots and autonomous Systems 10, pp. 209-224,
1992
[9] Chablat D., Moroz G., Wenger P., Uniqueness domains and non singular assembly mode changing trajectories, Proc. IEEE Int. Conf. Rob. and
Automation, May 2011.
[10] Pashkevich A., Chablat D., Wenger P., Kinematics and workspace analysis of a three-axis parallel manipulator the Orthoglide, Robotica, Vol.
24(01), pp. 39–49, 2006.
[11] Wenger Ph., Chablat D., Uniqueness Domains in the Workspace of Parallel Manipulators, IFAC-SYROCO, Vol. 2, pp 431-436, 3-5 Sept.,
[12] Innocenti C., Parenti-Castelli V., Singularity-free evolution from one configuration to another in serial and fully-parallel manipulators, Robotics,
Spatial Mechanisms and Mechanical Systems, ASME 1992.
[13] Cox D.A., Little J., O’Shea D.,Using Algebraic Geometry, 2nd edition, Graduate Texts in Mathematics, Springer,
2004.
[14] McAree P.R., Daniel R.W., An explanation of never-special assembly changing motions for 3-3 parallel manipulators, International Journal of
Robotic Research, 18 (6), pp. 556-574., 1999.
[15] Zein M., Wenger P. Chablat D., Non-Singular Assembly-mode Changing Motions for 3-RPR Parallel Manipulators, Mechanism and Machine
Theory, Vol 43/4, pp. 480–490, 2008.
[16] Wenger P., Chablat D., Workspace and assembly modes in fully parallel manipulators: a descriptive study, In: ARK, Strobol, pp. 117-126, 1998.
23
24. Thank you very much…
For your attention
Ranjan.jha@irccyn.ec-nantes.fr
24