This document summarizes a project presentation on a PPRR serial manipulator. The manipulator has two degrees of freedom in the end effector and consists of an RR manipulator mounted on two prismatic joints that slide along the X and Y axes. The project involves forward and inverse kinematics analysis, workspace analysis, and using the manipulator to trace a circle. Inverse kinematics is challenging due to the redundant degrees of freedom.
This document discusses inverse kinematics, which is finding the joint parameters of a robot given the desired end effector position and orientation. There are three main solutions to inverse kinematics problems: geometric, algebraic, and numerical. Geometric methods use geometry to directly calculate joint angles. Algebraic methods use transformation matrices from forward kinematics. Numerical methods use iterative techniques like pseudo-inverse or Jacobian transpose to approximate solutions.
This document discusses signal flow graphs and Mason's Rule for analyzing control systems. Signal flow graphs represent systems as nodes connected by branches, with transfer functions on the branches. Mason's Rule is used to evaluate closed-loop transfer functions. It involves identifying open-loop gains along forward paths and closed-loop gains for individual loops and combinations of non-touching loops. An example applies Mason's Rule by finding relevant gains and evaluating the closed-loop transfer function according to the rule. Laboratory materials for applying these concepts can be accessed online.
This document provides background information on root locus analysis and techniques for sketching root loci. It discusses rules for determining the number and symmetry of root locus branches, where the locus begins and ends, and how to find breakaway/break-in points and jw-axis crossings. The document concludes by posing a problem to sketch the root locus for a given transfer function. The key information is that root locus analysis graphically shows how closed-loop poles vary with gain and provides insights into stability and transient response.
Quicksort is described including its Java source code, time complexity analysis, and optimizations. It works by partitioning an array around pivots and recursively sorting the subarrays. The basic algorithm runs in O(n log n) time on average but can degrade to O(n^2). Optimizations like insertion sort for small subproblems and dual pivots are tested, with dual pivots performing best in testing.
This document discusses root locus analysis, which graphically shows how the closed-loop poles of a system change with a parameter. It outlines the general steps for drawing a root locus, which include determining open-loop poles and zeros, drawing the pole-zero plot, calculating asymptotes and breakaway points, and sketching the overall root locus. The document also briefly mentions that root locus analysis can provide insights into a system's stability and performance and be used to aid control system design.
ME-314 Introduction to Control Engineering is a course taught to Mechanical Engineering senior undergrads. The course is taught by Dr. Bilal Siddiqui at DHA Suffa University. This lecture is about block diagram reduction for finding closed loop transfer functions.
A manipulator is a series of linked segments connected by actuated joints that can manipulate objects without direct contact. The Jacobian inverse allows computation of the joint velocities required to achieve a desired end effector velocity as long as the Jacobian matrix is square and non-singular. The Jacobian inverse has applications in robotics such as handling materials, surgery, space and underwater exploration, and entertainment.
This document summarizes a project presentation on a PPRR serial manipulator. The manipulator has two degrees of freedom in the end effector and consists of an RR manipulator mounted on two prismatic joints that slide along the X and Y axes. The project involves forward and inverse kinematics analysis, workspace analysis, and using the manipulator to trace a circle. Inverse kinematics is challenging due to the redundant degrees of freedom.
This document discusses inverse kinematics, which is finding the joint parameters of a robot given the desired end effector position and orientation. There are three main solutions to inverse kinematics problems: geometric, algebraic, and numerical. Geometric methods use geometry to directly calculate joint angles. Algebraic methods use transformation matrices from forward kinematics. Numerical methods use iterative techniques like pseudo-inverse or Jacobian transpose to approximate solutions.
This document discusses signal flow graphs and Mason's Rule for analyzing control systems. Signal flow graphs represent systems as nodes connected by branches, with transfer functions on the branches. Mason's Rule is used to evaluate closed-loop transfer functions. It involves identifying open-loop gains along forward paths and closed-loop gains for individual loops and combinations of non-touching loops. An example applies Mason's Rule by finding relevant gains and evaluating the closed-loop transfer function according to the rule. Laboratory materials for applying these concepts can be accessed online.
This document provides background information on root locus analysis and techniques for sketching root loci. It discusses rules for determining the number and symmetry of root locus branches, where the locus begins and ends, and how to find breakaway/break-in points and jw-axis crossings. The document concludes by posing a problem to sketch the root locus for a given transfer function. The key information is that root locus analysis graphically shows how closed-loop poles vary with gain and provides insights into stability and transient response.
Quicksort is described including its Java source code, time complexity analysis, and optimizations. It works by partitioning an array around pivots and recursively sorting the subarrays. The basic algorithm runs in O(n log n) time on average but can degrade to O(n^2). Optimizations like insertion sort for small subproblems and dual pivots are tested, with dual pivots performing best in testing.
This document discusses root locus analysis, which graphically shows how the closed-loop poles of a system change with a parameter. It outlines the general steps for drawing a root locus, which include determining open-loop poles and zeros, drawing the pole-zero plot, calculating asymptotes and breakaway points, and sketching the overall root locus. The document also briefly mentions that root locus analysis can provide insights into a system's stability and performance and be used to aid control system design.
ME-314 Introduction to Control Engineering is a course taught to Mechanical Engineering senior undergrads. The course is taught by Dr. Bilal Siddiqui at DHA Suffa University. This lecture is about block diagram reduction for finding closed loop transfer functions.
A manipulator is a series of linked segments connected by actuated joints that can manipulate objects without direct contact. The Jacobian inverse allows computation of the joint velocities required to achieve a desired end effector velocity as long as the Jacobian matrix is square and non-singular. The Jacobian inverse has applications in robotics such as handling materials, surgery, space and underwater exploration, and entertainment.
The document discusses approximating higher-order systems as second-order systems by identifying dominant poles. It explains that a system with additional poles or zeros can be modeled as having two complex dominant poles under certain conditions. The effects of additional poles and zeros depend on their proximity to the dominant poles - extras that are farther away have less impact on the system response.
The document discusses optimization of tool path for robots in an assembly environment. It aims to develop new algorithms and techniques to optimize the tool path for increased productivity and efficiency with lower energy costs. This includes formulating the tool path optimization problem as a traveling salesman problem (TSP) and developing insertion and reordering algorithms to find optimal non-intersecting paths between target points visited by the robot tool. The document also covers inverse kinematics techniques to determine robot joint parameters required to reach specified target points.
This document discusses time response analysis of control systems. It covers topics such as first-order and second-order systems, including their poles, zeros, and responses. For first-order systems, it describes concepts like time constant, rise time, and settling time. It then covers different types of responses for second-order systems, including overdamped, underdamped, undamped, and critically damped. Examples are provided to illustrate these concepts and analyze systems from their transfer functions.
This document compares kinematic and dynamic models for robotics. The kinematic model studies robot motion without considering forces/torques, and can be used to determine end effector position from joint positions. The dynamic model relates joint torques to motion, and is important for analyzing a robot's dynamic behavior. Key differences include the kinematic model using Denavit-Hartenberg notation while dynamic models employ Lagrange-Euler and Newton-Euler formulations. Both models are essential for robot control and simulation.
The document discusses root locus analysis, a technique for analyzing the stability and transient response of control systems. It provides rules for sketching root loci, including that branches represent closed-loop poles and the locus is symmetric about the real axis. The document also describes refining the root locus sketch by finding the imaginary axis crossing, angles of departure and arrival, and approximating higher-order systems as second-order. An example problem is given to apply these techniques.
The document discusses control systems engineering and reducing multiple subsystems using block diagrams. It covers block diagram topologies like cascade, parallel, and feedback forms. It shows how to apply algebra to summing junctions and pickoff points when reducing block diagrams. An example problem demonstrates the step-by-step process of reducing a block diagram with multiple feedback loops into an equivalent single-loop feedback system.
This document describes sequential and parallel quicksort algorithms. Sequential quicksort has average complexity of O(n log n) but worst case of O(n^2). Parallel quicksort partitions the array, sorts subarrays in parallel threads, and waits for threads to complete to improve performance over sequential quicksort. It uses a queue to store threads if processors are busy and chooses split keys through various methods like first element or median. New threads are only created if the subarray size is above a minimum to reduce overhead.
This document outlines the steps and procedure for performing a root locus analysis. It begins with an introduction to root locus analysis and its use in determining the stability of a closed-loop system. It then lists the general 8 steps for drawing a root locus as a parameter is varied. An example problem is worked through, showing the determination of poles, zeros, asymptotes, breakaway points, and drawing the overall root locus sketch. The document concludes with a brief MATLAB program for generating a root locus plot.
Generalized Isomorphism between Synchronous Circuits and State MachinesShunji Nishimura
1) The document presents a generalized theory that models synchronous circuits and state machines using category theory.
2) It defines an evaluation operator and comprehensive latches to model circuits containing latches and flip-flops.
3) A natural transformation is used to transform the time structure of a circuit, showing an isomorphism between a D-latch circuit and corresponding state machine.
This document discusses stability analysis and design of control systems using the Routh-Hurwitz criteria. It provides definitions of stable, unstable, and marginally stable systems and describes how to generate and interpret the Routh table to determine the number and location of poles. The Routh-Hurwitz criteria allows determining stability based on the number of sign changes in the first column of the table and identifying marginally stable systems with poles only on the imaginary axis. Examples are provided to illustrate applying the method to determine stability and finding design parameters that achieve different stability conditions.
The document discusses root locus analysis and controller design techniques.
1) Root locus analysis involves plotting the trajectories of a system's closed-loop poles as a parameter (such as a controller gain) is varied. Properties of root loci like pole departure angles and asymptotes are examined.
2) Design specifications like overshoot and settling time can be translated to desired pole regions. A simple proportional controller can place poles near this region.
3) Additional controller types like integral and derivative are introduced to modify the root locus for improved steady-state response or damping. Combining controller types benefits stability.
Automatic car parking mechanism using neuro fuzzy controller tuned by genetic...SumitDutta58
This paper has being presented a neuro fuzzy controller
based on Gaussian type RBF neural network, where all the
parameters can be simultaneously tuned by GA. By
appropriate coding of NFLC parameters it can achieve self
tuning properties from an initial random state.
This document discusses kinematics of machinery and mechanisms. It defines a machine as a collection of mechanisms that transmit force from a power source to overcome resistance. Mechanisms are made up of links connected by kinematic pairs, which allow relative motion between elements. There are lower and higher pairs based on the nature of contact between elements. The document also discusses degrees of freedom, Grubler's criterion for calculating degrees of freedom, and examples of kinematic chains including constrained, unlocked, and unconstrained chains.
The document discusses control systems engineering concepts including sensitivity, stability analysis using Routh tables and Routh-Hurwitz criteria, steady-state error, and calculating gains. It provides examples of calculating sensitivity to parameter changes, using Routh tables to determine system stability, finding steady-state error for different input signals, and selecting gain values for desired steady-state error. The document is from a mechanical engineering course on control systems.
This document discusses topological sorting of graphs. It defines a graph as consisting of vertices and edges. A topological sort orders the vertices of a directed acyclic graph (DAG) such that if there is an edge from vertex u to vertex v, u comes before v in the ordering. The algorithm computes indegrees of vertices, selects vertices with indegree 0, removes them and updates indegrees until all vertices are ordered. Topological sorting has applications in job scheduling, spreadsheet formula evaluation, logic synthesis, data serialization, and build systems.
The document discusses stacks, including defining a stack as a linear collection where elements are added and removed from one end with LIFO behavior. It examines stack implementations using arrays and linked nodes, and demonstrates how stacks can be used to solve problems like evaluating postfix expressions and maze traversal by trying alternatives in a depth-first manner using recursion simulation.
This document discusses parallel algorithms for sorting. It begins by defining parallel algorithms and explaining that the lower bound for comparison-based sorting of n elements is Θ(n log n). It then discusses several parallel sorting algorithms: odd-even transposition sort on a linear array, quicksort, and sorting networks. It also covers sorting on different parallel models like CRCW, CREW, and EREW. An example is provided of applying an EREW sorting algorithm to a sample data set by recursively dividing it into subsequences until single elements remain to be sorted locally.
The document summarizes a seminar presentation on parallel random access machine (PRAM) algorithms. It discusses the computational model of PRAM, algorithms like merging and sorting using odd-even merge. It also covers applications such as computing convex hulls and mentions that PRAM is a source of inspiration for parallel algorithms.
Topological Sort Presentation.
Watch my videos on snack here: --> --> http://sck.io/x-B1f0Iy
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This document summarizes a cylindrical robot simulation software developed for educational purposes. The software includes modules for direct and inverse kinematics, trajectory planning, and PID-computed torque control. It was created using Matlab and incorporates visual animations. Students found it helpful for understanding fundamental robot mechanics concepts.
[1] The document describes a final project report for a mathematical methods in robotics course. It presents the implementation of a P-R-R-R serial manipulator and a parallel manipulator with 2 R-R-R chains and 1 P-R-R chain using a graphical user interface in MATLAB.
[2] The serial manipulator interface allows the user to perform forward and inverse kinematics, plot the workspace, and trace ellipses, circles, and curves. The parallel manipulator interface provides basic functionality through the GUI.
[3] The report includes the objective, overview of the manipulators, user interfaces, workspace plotting, forward/inverse kinematics solutions, ellipse/circle/
MECH572-lecture8.ppt introduction to roboticsShyamal25
This document summarizes key concepts in robot kinematics including inverse kinematics, velocity analysis, acceleration analysis, singularity analysis, and static analysis. It discusses the inverse kinematics problem for 6 degree-of-freedom decoupled manipulators and how to solve for individual joint angles. It also describes how the Jacobian matrix maps between joint and end-effector velocities and accelerations. Singularity analysis focuses on identifying configurations where the manipulator loses mobility. Static analysis establishes the relationship between joint torques and end-effector wrenches. The document concludes by assigning problems from the textbook.
The document discusses approximating higher-order systems as second-order systems by identifying dominant poles. It explains that a system with additional poles or zeros can be modeled as having two complex dominant poles under certain conditions. The effects of additional poles and zeros depend on their proximity to the dominant poles - extras that are farther away have less impact on the system response.
The document discusses optimization of tool path for robots in an assembly environment. It aims to develop new algorithms and techniques to optimize the tool path for increased productivity and efficiency with lower energy costs. This includes formulating the tool path optimization problem as a traveling salesman problem (TSP) and developing insertion and reordering algorithms to find optimal non-intersecting paths between target points visited by the robot tool. The document also covers inverse kinematics techniques to determine robot joint parameters required to reach specified target points.
This document discusses time response analysis of control systems. It covers topics such as first-order and second-order systems, including their poles, zeros, and responses. For first-order systems, it describes concepts like time constant, rise time, and settling time. It then covers different types of responses for second-order systems, including overdamped, underdamped, undamped, and critically damped. Examples are provided to illustrate these concepts and analyze systems from their transfer functions.
This document compares kinematic and dynamic models for robotics. The kinematic model studies robot motion without considering forces/torques, and can be used to determine end effector position from joint positions. The dynamic model relates joint torques to motion, and is important for analyzing a robot's dynamic behavior. Key differences include the kinematic model using Denavit-Hartenberg notation while dynamic models employ Lagrange-Euler and Newton-Euler formulations. Both models are essential for robot control and simulation.
The document discusses root locus analysis, a technique for analyzing the stability and transient response of control systems. It provides rules for sketching root loci, including that branches represent closed-loop poles and the locus is symmetric about the real axis. The document also describes refining the root locus sketch by finding the imaginary axis crossing, angles of departure and arrival, and approximating higher-order systems as second-order. An example problem is given to apply these techniques.
The document discusses control systems engineering and reducing multiple subsystems using block diagrams. It covers block diagram topologies like cascade, parallel, and feedback forms. It shows how to apply algebra to summing junctions and pickoff points when reducing block diagrams. An example problem demonstrates the step-by-step process of reducing a block diagram with multiple feedback loops into an equivalent single-loop feedback system.
This document describes sequential and parallel quicksort algorithms. Sequential quicksort has average complexity of O(n log n) but worst case of O(n^2). Parallel quicksort partitions the array, sorts subarrays in parallel threads, and waits for threads to complete to improve performance over sequential quicksort. It uses a queue to store threads if processors are busy and chooses split keys through various methods like first element or median. New threads are only created if the subarray size is above a minimum to reduce overhead.
This document outlines the steps and procedure for performing a root locus analysis. It begins with an introduction to root locus analysis and its use in determining the stability of a closed-loop system. It then lists the general 8 steps for drawing a root locus as a parameter is varied. An example problem is worked through, showing the determination of poles, zeros, asymptotes, breakaway points, and drawing the overall root locus sketch. The document concludes with a brief MATLAB program for generating a root locus plot.
Generalized Isomorphism between Synchronous Circuits and State MachinesShunji Nishimura
1) The document presents a generalized theory that models synchronous circuits and state machines using category theory.
2) It defines an evaluation operator and comprehensive latches to model circuits containing latches and flip-flops.
3) A natural transformation is used to transform the time structure of a circuit, showing an isomorphism between a D-latch circuit and corresponding state machine.
This document discusses stability analysis and design of control systems using the Routh-Hurwitz criteria. It provides definitions of stable, unstable, and marginally stable systems and describes how to generate and interpret the Routh table to determine the number and location of poles. The Routh-Hurwitz criteria allows determining stability based on the number of sign changes in the first column of the table and identifying marginally stable systems with poles only on the imaginary axis. Examples are provided to illustrate applying the method to determine stability and finding design parameters that achieve different stability conditions.
The document discusses root locus analysis and controller design techniques.
1) Root locus analysis involves plotting the trajectories of a system's closed-loop poles as a parameter (such as a controller gain) is varied. Properties of root loci like pole departure angles and asymptotes are examined.
2) Design specifications like overshoot and settling time can be translated to desired pole regions. A simple proportional controller can place poles near this region.
3) Additional controller types like integral and derivative are introduced to modify the root locus for improved steady-state response or damping. Combining controller types benefits stability.
Automatic car parking mechanism using neuro fuzzy controller tuned by genetic...SumitDutta58
This paper has being presented a neuro fuzzy controller
based on Gaussian type RBF neural network, where all the
parameters can be simultaneously tuned by GA. By
appropriate coding of NFLC parameters it can achieve self
tuning properties from an initial random state.
This document discusses kinematics of machinery and mechanisms. It defines a machine as a collection of mechanisms that transmit force from a power source to overcome resistance. Mechanisms are made up of links connected by kinematic pairs, which allow relative motion between elements. There are lower and higher pairs based on the nature of contact between elements. The document also discusses degrees of freedom, Grubler's criterion for calculating degrees of freedom, and examples of kinematic chains including constrained, unlocked, and unconstrained chains.
The document discusses control systems engineering concepts including sensitivity, stability analysis using Routh tables and Routh-Hurwitz criteria, steady-state error, and calculating gains. It provides examples of calculating sensitivity to parameter changes, using Routh tables to determine system stability, finding steady-state error for different input signals, and selecting gain values for desired steady-state error. The document is from a mechanical engineering course on control systems.
This document discusses topological sorting of graphs. It defines a graph as consisting of vertices and edges. A topological sort orders the vertices of a directed acyclic graph (DAG) such that if there is an edge from vertex u to vertex v, u comes before v in the ordering. The algorithm computes indegrees of vertices, selects vertices with indegree 0, removes them and updates indegrees until all vertices are ordered. Topological sorting has applications in job scheduling, spreadsheet formula evaluation, logic synthesis, data serialization, and build systems.
The document discusses stacks, including defining a stack as a linear collection where elements are added and removed from one end with LIFO behavior. It examines stack implementations using arrays and linked nodes, and demonstrates how stacks can be used to solve problems like evaluating postfix expressions and maze traversal by trying alternatives in a depth-first manner using recursion simulation.
This document discusses parallel algorithms for sorting. It begins by defining parallel algorithms and explaining that the lower bound for comparison-based sorting of n elements is Θ(n log n). It then discusses several parallel sorting algorithms: odd-even transposition sort on a linear array, quicksort, and sorting networks. It also covers sorting on different parallel models like CRCW, CREW, and EREW. An example is provided of applying an EREW sorting algorithm to a sample data set by recursively dividing it into subsequences until single elements remain to be sorted locally.
The document summarizes a seminar presentation on parallel random access machine (PRAM) algorithms. It discusses the computational model of PRAM, algorithms like merging and sorting using odd-even merge. It also covers applications such as computing convex hulls and mentions that PRAM is a source of inspiration for parallel algorithms.
Topological Sort Presentation.
Watch my videos on snack here: --> --> http://sck.io/x-B1f0Iy
@ Kindly Follow my Instagram Page to discuss about your mental health problems-
-----> https://instagram.com/mentality_streak?utm_medium=copy_link
@ Appreciate my work:
-----> behance.net/burhanahmed1
Thank-you !
This document summarizes a cylindrical robot simulation software developed for educational purposes. The software includes modules for direct and inverse kinematics, trajectory planning, and PID-computed torque control. It was created using Matlab and incorporates visual animations. Students found it helpful for understanding fundamental robot mechanics concepts.
[1] The document describes a final project report for a mathematical methods in robotics course. It presents the implementation of a P-R-R-R serial manipulator and a parallel manipulator with 2 R-R-R chains and 1 P-R-R chain using a graphical user interface in MATLAB.
[2] The serial manipulator interface allows the user to perform forward and inverse kinematics, plot the workspace, and trace ellipses, circles, and curves. The parallel manipulator interface provides basic functionality through the GUI.
[3] The report includes the objective, overview of the manipulators, user interfaces, workspace plotting, forward/inverse kinematics solutions, ellipse/circle/
MECH572-lecture8.ppt introduction to roboticsShyamal25
This document summarizes key concepts in robot kinematics including inverse kinematics, velocity analysis, acceleration analysis, singularity analysis, and static analysis. It discusses the inverse kinematics problem for 6 degree-of-freedom decoupled manipulators and how to solve for individual joint angles. It also describes how the Jacobian matrix maps between joint and end-effector velocities and accelerations. Singularity analysis focuses on identifying configurations where the manipulator loses mobility. Static analysis establishes the relationship between joint torques and end-effector wrenches. The document concludes by assigning problems from the textbook.
Research Inventy : International Journal of Engineering and Scienceinventy
The document presents an adaptive tracking control method for a welding mobile manipulator. The mobile manipulator consists of a three-linked planar manipulator mounted on a two-wheeled mobile platform. Controllers are designed using Lyapunov stability analysis to guarantee the end-effector tracks a desired welding trajectory despite unknown dimensional parameters of the manipulator. Simulation and experimental results demonstrate the effectiveness of the proposed adaptive controllers.
The document discusses manipulator kinematics, which refers to the position and orientation of a robot's end effector as a function of time, without regard to forces or mass. It describes different methods for representing an end effector's position, including joint space and world space methods. The key difference between forward and backward transformations is that forward transformation maps from joint space to world space, while backward transformation maps from world space to joint space. Accuracy refers to how well a robot can reach a desired location, while repeatability refers to how well it can return to a previously taught point.
Design and Simulation of Different Controllers for Stabilizing Inverted Pendu...IJERA Editor
The Inverted Pendulum system has been identified for implementing controllers as it is an inherently unstable system having nonlinear dynamics. The system has fewer control inputs than degrees of freedom which makes it fall under the class of under-actuated systems. It makes the control task more challenging making the inverted pendulum system a classical benchmark for the design, testing, evaluating and comparing. The inverted pendulum to be discussed in this paper is an inverted pendulum mounted on a motor driven cart. The aim is to stabilize the system such that the position of the cart on the track is controlled quickly and accurately so that the pendulum is always erected in its vertical position. In this paper the linearized model was obtained by Jacobian matrix method. The Matlab-Simulink models have been developed for simulation for optimal control design of nonlinear inverted pendulum-cart dynamic system using different control methods. The methods discussed in this paper are a double Proportional-Integral-Derivative (PID) control method, a modern Linear Quadratic Regulator (LQR) control method and a combination of PID and Linear Quadratic Regulator (LQR) control methods. The dynamic and steady state performance are investigated and compared for the above controllers.
Seth Hutchinson - Progress Toward a Robotic BatDaniel Huber
This document summarizes research on developing a robotic bat, including:
- Modeling the robot morphology with biologically inspired degrees of freedom for wings and legs.
- Developing reduced-order models and nonlinear dynamics models.
- Designing parameterized trajectories for the actuated joints to define a manifold for the system dynamics.
- Developing nonlinear control approaches like contraction theory for trajectory tracking.
- Simultaneous optimization of kinematic design parameters and wing trajectories for more biologically accurate motion.
Kinematics is the study of how robotic manipulators move. It describes the relationship between actuator movement and resulting end effector motion. Understanding a robot's kinematics, including its number of joints, degrees of freedom, and how parts are connected, is necessary for controlling its movement. Forward kinematics determines the end effector position from joint angles, while inverse kinematics finds required joint angles for a given end effector position. Homogeneous transformations provide a general mathematical approach for solving kinematics equations using matrix algebra.
A fuzzy logic controllerfora two link functional manipulatorIJCNCJournal
This paper presents a new approach for designing a Fuzzy Logic Controller "FLC"for a dynamically multivariable nonlinear coupling system. The conventional controller with constant gains for different operating points may not be sufficient to guarantee satisfactory performance for Robot manipulator. The Fuzzy Logic Controller utilizes the error and the change of error as fuzzy linguistic inputs to regulate the system performance. The proposed controller have been developed to simulate the dynamic behavior of A
Two-Link Functional Manipulator. The new controller uses only the available information of the input-output for controlling the position and velocity of the robot axes of the motion of the end effectors
The document provides information about a robotics and control course, including:
- The course covers topics such as robot kinematics, trajectory planning, robot dynamics, and robot control.
- Textbooks and references are listed, and the assessment scheme includes assignments, quizzes, and an exam.
- The course objectives are to introduce robot concepts and design, kinematics, trajectory planning, control systems, and applications in robotics.
The document presents two types of robotic manipulators: a PPRR manipulator that can be positioned anywhere in its workspace to trace ellipses of different weights, and a 4RRR parallel manipulator with a rhombic link structure that can trace circles and ellipses through inverse kinematics and varying simulation parameters like link lengths and angles. Key implementation details are solving the differential equations through Runge-Kutta methods for the PPRR and using the null space for velocity-level kinematics in the 4RRR.
This document summarizes chapter 2 of a robotics textbook. It discusses robot kinematics including forward and inverse kinematics. Forward kinematics determines the robot's position given joint angles, while inverse kinematics calculates joint angles for a desired position. Several coordinate systems for representing robot positions are described, including Cartesian, cylindrical, and spherical coordinates. The Denavit-Hartenberg representation provides a standardized way to define the transformation between reference frames of successive robot links and joints, allowing calculation of forward kinematics for any robot configuration.
Solution of Inverse Kinematics for SCARA Manipulator Using Adaptive Neuro-Fuz...ijsc
Solution of inverse kinematic equations is complex problem, the complexity comes from the nonlinearity of joint space and Cartesian space mapping and having multiple solution. In this work, four adaptive neurofuzzy networks ANFIS are implemented to solve the inverse kinematics of 4-DOF SCARA manipulator. The implementation of ANFIS is easy, and the simulation of it shows that it is very fast and give acceptable
error.
This document defines transfer functions and discusses their properties. A transfer function is the ratio of the Laplace transform of the output to the input of a system with zero initial conditions. Transfer functions can be proper, improper, or strictly proper depending on the orders of the numerator and denominator polynomials. Poles and zeros are values of s that make the transfer function go to infinity or zero. Examples are provided of calculating transfer functions for electrical circuits and mechanical systems. The characteristic equation is obtained by setting the denominator polynomial to zero.
Construction Surveying University CourseNettlemanU
Principles and reduction of observations and errors in spatial measurement. Techniques of horizontal and vertical angle measurement for precise positioning. Trigonometric heighting and vertical staff tacheometry. Setting out of structures. Design and computation of horizontal and vertical curves.
This document describes algorithms for trajectory generation and control of quadcopters. It discusses:
1) Using splines to generate minimum snap trajectories between waypoints specified in SO(3) space.
2) Developing controllers to track the smooth generated trajectories, including linearized small angle control and altitude control.
3) Extending the control to 3D trajectory tracking using position and velocity error feedback to compute commanded accelerations.
Solution of Inverse Kinematics for SCARA Manipulator Using Adaptive Neuro-Fuz...ijsc
Solution of inverse kinematic equations is complex problem, the complexity comes from the nonlinearity of joint space and Cartesian space mapping and having multiple solution. In this work, four adaptive neurofuzzy networks ANFIS are implemented to solve the inverse kinematics of 4-DOF SCARA manipulator. The implementation of ANFIS is easy, and the simulation of it shows that it is very fast and give acceptable error.
The document discusses generating ephemerides for asteroids using analytical propagation methods. It begins by introducing the objectives, various coordinate systems, and complexities in determining orbital motion. It then covers the equations of motion for two-body motion and conic orbits. The document describes how to generate ephemerides using analytical techniques by calculating orbital element transformations between time steps. Comparisons to JPL ephemerides for Pallas show errors on the order of 10^-1 to 10^-2 in position and velocity components. While computationally simpler, the two-body model results in significant absolute errors, requiring more detailed force models for precision.
The document outlines the syllabus for a course on digital signal processing. It includes 5 units: 1) Introduction to signals and systems, 2) Discrete time system analysis using z-transforms, 3) Discrete Fourier transforms and computation including fast Fourier transforms, 4) Design of digital filters including FIR and IIR filters, and 5) Digital signal processors and their architecture. It allocates a total of 45 periods to cover these topics. Textbooks recommended for the course provide further information on digital signal processing principles, algorithms, and applications.
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Temple of Asclepius in Thrace. Excavation resultsKrassimira Luka
The temple and the sanctuary around were dedicated to Asklepios Zmidrenus. This name has been known since 1875 when an inscription dedicated to him was discovered in Rome. The inscription is dated in 227 AD and was left by soldiers originating from the city of Philippopolis (modern Plovdiv).
ISO/IEC 27001, ISO/IEC 42001, and GDPR: Best Practices for Implementation and...PECB
Denis is a dynamic and results-driven Chief Information Officer (CIO) with a distinguished career spanning information systems analysis and technical project management. With a proven track record of spearheading the design and delivery of cutting-edge Information Management solutions, he has consistently elevated business operations, streamlined reporting functions, and maximized process efficiency.
Certified as an ISO/IEC 27001: Information Security Management Systems (ISMS) Lead Implementer, Data Protection Officer, and Cyber Risks Analyst, Denis brings a heightened focus on data security, privacy, and cyber resilience to every endeavor.
His expertise extends across a diverse spectrum of reporting, database, and web development applications, underpinned by an exceptional grasp of data storage and virtualization technologies. His proficiency in application testing, database administration, and data cleansing ensures seamless execution of complex projects.
What sets Denis apart is his comprehensive understanding of Business and Systems Analysis technologies, honed through involvement in all phases of the Software Development Lifecycle (SDLC). From meticulous requirements gathering to precise analysis, innovative design, rigorous development, thorough testing, and successful implementation, he has consistently delivered exceptional results.
Throughout his career, he has taken on multifaceted roles, from leading technical project management teams to owning solutions that drive operational excellence. His conscientious and proactive approach is unwavering, whether he is working independently or collaboratively within a team. His ability to connect with colleagues on a personal level underscores his commitment to fostering a harmonious and productive workplace environment.
Date: May 29, 2024
Tags: Information Security, ISO/IEC 27001, ISO/IEC 42001, Artificial Intelligence, GDPR
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Gender and Mental Health - Counselling and Family Therapy Applications and In...PsychoTech Services
A proprietary approach developed by bringing together the best of learning theories from Psychology, design principles from the world of visualization, and pedagogical methods from over a decade of training experience, that enables you to: Learn better, faster!
This document provides an overview of wound healing, its functions, stages, mechanisms, factors affecting it, and complications.
A wound is a break in the integrity of the skin or tissues, which may be associated with disruption of the structure and function.
Healing is the body’s response to injury in an attempt to restore normal structure and functions.
Healing can occur in two ways: Regeneration and Repair
There are 4 phases of wound healing: hemostasis, inflammation, proliferation, and remodeling. This document also describes the mechanism of wound healing. Factors that affect healing include infection, uncontrolled diabetes, poor nutrition, age, anemia, the presence of foreign bodies, etc.
Complications of wound healing like infection, hyperpigmentation of scar, contractures, and keloid formation.
This presentation was provided by Racquel Jemison, Ph.D., Christina MacLaughlin, Ph.D., and Paulomi Majumder. Ph.D., all of the American Chemical Society, for the second session of NISO's 2024 Training Series "DEIA in the Scholarly Landscape." Session Two: 'Expanding Pathways to Publishing Careers,' was held June 13, 2024.
How to Make a Field Mandatory in Odoo 17Celine George
In Odoo, making a field required can be done through both Python code and XML views. When you set the required attribute to True in Python code, it makes the field required across all views where it's used. Conversely, when you set the required attribute in XML views, it makes the field required only in the context of that particular view.
Chapter wise All Notes of First year Basic Civil Engineering.pptxDenish Jangid
Chapter wise All Notes of First year Basic Civil Engineering
Syllabus
Chapter-1
Introduction to objective, scope and outcome the subject
Chapter 2
Introduction: Scope and Specialization of Civil Engineering, Role of civil Engineer in Society, Impact of infrastructural development on economy of country.
Chapter 3
Surveying: Object Principles & Types of Surveying; Site Plans, Plans & Maps; Scales & Unit of different Measurements.
Linear Measurements: Instruments used. Linear Measurement by Tape, Ranging out Survey Lines and overcoming Obstructions; Measurements on sloping ground; Tape corrections, conventional symbols. Angular Measurements: Instruments used; Introduction to Compass Surveying, Bearings and Longitude & Latitude of a Line, Introduction to total station.
Levelling: Instrument used Object of levelling, Methods of levelling in brief, and Contour maps.
Chapter 4
Buildings: Selection of site for Buildings, Layout of Building Plan, Types of buildings, Plinth area, carpet area, floor space index, Introduction to building byelaws, concept of sun light & ventilation. Components of Buildings & their functions, Basic concept of R.C.C., Introduction to types of foundation
Chapter 5
Transportation: Introduction to Transportation Engineering; Traffic and Road Safety: Types and Characteristics of Various Modes of Transportation; Various Road Traffic Signs, Causes of Accidents and Road Safety Measures.
Chapter 6
Environmental Engineering: Environmental Pollution, Environmental Acts and Regulations, Functional Concepts of Ecology, Basics of Species, Biodiversity, Ecosystem, Hydrological Cycle; Chemical Cycles: Carbon, Nitrogen & Phosphorus; Energy Flow in Ecosystems.
Water Pollution: Water Quality standards, Introduction to Treatment & Disposal of Waste Water. Reuse and Saving of Water, Rain Water Harvesting. Solid Waste Management: Classification of Solid Waste, Collection, Transportation and Disposal of Solid. Recycling of Solid Waste: Energy Recovery, Sanitary Landfill, On-Site Sanitation. Air & Noise Pollution: Primary and Secondary air pollutants, Harmful effects of Air Pollution, Control of Air Pollution. . Noise Pollution Harmful Effects of noise pollution, control of noise pollution, Global warming & Climate Change, Ozone depletion, Greenhouse effect
Text Books:
1. Palancharmy, Basic Civil Engineering, McGraw Hill publishers.
2. Satheesh Gopi, Basic Civil Engineering, Pearson Publishers.
3. Ketki Rangwala Dalal, Essentials of Civil Engineering, Charotar Publishing House.
4. BCP, Surveying volume 1
Philippine Edukasyong Pantahanan at Pangkabuhayan (EPP) CurriculumMJDuyan
(𝐓𝐋𝐄 𝟏𝟎𝟎) (𝐋𝐞𝐬𝐬𝐨𝐧 𝟏)-𝐏𝐫𝐞𝐥𝐢𝐦𝐬
𝐃𝐢𝐬𝐜𝐮𝐬𝐬 𝐭𝐡𝐞 𝐄𝐏𝐏 𝐂𝐮𝐫𝐫𝐢𝐜𝐮𝐥𝐮𝐦 𝐢𝐧 𝐭𝐡𝐞 𝐏𝐡𝐢𝐥𝐢𝐩𝐩𝐢𝐧𝐞𝐬:
- Understand the goals and objectives of the Edukasyong Pantahanan at Pangkabuhayan (EPP) curriculum, recognizing its importance in fostering practical life skills and values among students. Students will also be able to identify the key components and subjects covered, such as agriculture, home economics, industrial arts, and information and communication technology.
𝐄𝐱𝐩𝐥𝐚𝐢𝐧 𝐭𝐡𝐞 𝐍𝐚𝐭𝐮𝐫𝐞 𝐚𝐧𝐝 𝐒𝐜𝐨𝐩𝐞 𝐨𝐟 𝐚𝐧 𝐄𝐧𝐭𝐫𝐞𝐩𝐫𝐞𝐧𝐞𝐮𝐫:
-Define entrepreneurship, distinguishing it from general business activities by emphasizing its focus on innovation, risk-taking, and value creation. Students will describe the characteristics and traits of successful entrepreneurs, including their roles and responsibilities, and discuss the broader economic and social impacts of entrepreneurial activities on both local and global scales.