A neural network Smith predictive control strategy is proposed to deal with inpu t and feedback time delays in telerobot systems. The delay time is assumed to b e invariant and unknown. The proposed control structure...A neural network Smith predictive control strategy is proposed to deal with inpu t and feedback time delays in telerobot systems. The delay time is assumed to b e invariant and unknown. The proposed control structure consists of a slave syst em and a master controller. In the slave system, a recurrent neural network (RNN ) with on-line weight tuning algorithm is employed to approximate the dynamics of the time-delay-free nonlinear plant, which is used to linearize the slave s ystem. The master controller is a Smith predictor for the linearized slave syste m, which provides prediction and maintains the desirable tracking performance. S tability propriety is guaranteed based on the Lyapunov method. A simulation of a two-link robotic manipulator is provided to illustrate the effectiveness of th e proposed control strategy.展开更多
By direct calculation of rotation matrices of SO(3),we show how certain specific sequence of eight consecutiverotations of digital angles can yield a tilting of a facet mirror.We also design a detailed program specifi...By direct calculation of rotation matrices of SO(3),we show how certain specific sequence of eight consecutiverotations of digital angles can yield a tilting of a facet mirror.We also design a detailed program specifically to tiltan array of mirrors from planar orientation to the required focusing orientation.We describe how to use the 8-step torealize the focusing of the mirror array.We have found,in our designed program,an important feature of row-sharingduring the rotations for the columns and similarly the column-sharing during the rotations for the row.This feature cansave a lot of operating time during the actual realization of the mechanical movements.展开更多
The machine interference problem with reliable server under single vacation is considered here. There are M similar machines that are subject to fail or breaks down with a single server who is responsible for repairin...The machine interference problem with reliable server under single vacation is considered here. There are M similar machines that are subject to fail or breaks down with a single server who is responsible for repairing or maintaining the failed machines. The machine fails completely at random with rate 2 and they are serviced in order of breaks down. More so, the machines operate independently but are subject to fail or break down. The service time distributions of the failed machines are assumed to be exponentially distributed with state dependent service rate #n, where n is the number of failed machines. By state dependent service rate we mean a situation where the rate of service depends on the number of failed machines present in the system. The Chapman-Kolmogorov differential equations obtained for the reliable server under single vacation model is solved through ODE45 （Runge-Kutta algorithm of order 4 and 5） in MATLAB programming language. The transient probabilities obtained are used to compute the operational measures of performance for the systems. The following time dependent operational measures of performance for the system are obtained： expected number of failed machines, expected number of operating machines, machine availability, expected idle period, expected busy period, operational utilization of the machine, the variance of the expected number of failed machine and variance of expected number of operating machine in the system. The effects of failure rate of machines, service rate of failed machines and the number of operating machines are investigated; it is observe that the rate at which machine fails and is serviced, affect the expected number of failed and operating machines in the system. The CPU time for obtaining the transient results for the systems and the variance of the systems are reported in this work.展开更多
Teleoperation rendezvous and docking can be used as a backup for autonomous rendezvous and docking (RVD) for an unmanned spacecraft or for guiding the chaser docking with an uncooperative target.The inherent teleopera...Teleoperation rendezvous and docking can be used as a backup for autonomous rendezvous and docking (RVD) for an unmanned spacecraft or for guiding the chaser docking with an uncooperative target.The inherent teleoperation time delay is a rigorous problem,especially when the chaser is teleoperated on the ground.To eliminate the effect of time delay,a new approach for teleoperation RVD is studied.The characteristics of teleoperation RVD are analyzed by comparisons with the teleoperation robot and with manually controlled RVD;the relative motion of the chaser is predicted based on the C-W equation;and the processed measure information with time delay through the Kalman filter is utilized to correct the current prediction.Experimental results verify that the approach produces an 18% enhanced success rate of teleoperation RVD compared with direct visual feedback,and consumes less time and fuel.The developed approach also solves the time delay problem effectively.Teleoperation RVD using this method can be applied as a useful backup for autonomous RVD.展开更多
文摘A neural network Smith predictive control strategy is proposed to deal with inpu t and feedback time delays in telerobot systems. The delay time is assumed to b e invariant and unknown. The proposed control structure consists of a slave syst em and a master controller. In the slave system, a recurrent neural network (RNN ) with on-line weight tuning algorithm is employed to approximate the dynamics of the time-delay-free nonlinear plant, which is used to linearize the slave s ystem. The master controller is a Smith predictor for the linearized slave syste m, which provides prediction and maintains the desirable tracking performance. S tability propriety is guaranteed based on the Lyapunov method. A simulation of a two-link robotic manipulator is provided to illustrate the effectiveness of th e proposed control strategy.
文摘By direct calculation of rotation matrices of SO(3),we show how certain specific sequence of eight consecutiverotations of digital angles can yield a tilting of a facet mirror.We also design a detailed program specifically to tiltan array of mirrors from planar orientation to the required focusing orientation.We describe how to use the 8-step torealize the focusing of the mirror array.We have found,in our designed program,an important feature of row-sharingduring the rotations for the columns and similarly the column-sharing during the rotations for the row.This feature cansave a lot of operating time during the actual realization of the mechanical movements.
文摘The machine interference problem with reliable server under single vacation is considered here. There are M similar machines that are subject to fail or breaks down with a single server who is responsible for repairing or maintaining the failed machines. The machine fails completely at random with rate 2 and they are serviced in order of breaks down. More so, the machines operate independently but are subject to fail or break down. The service time distributions of the failed machines are assumed to be exponentially distributed with state dependent service rate #n, where n is the number of failed machines. By state dependent service rate we mean a situation where the rate of service depends on the number of failed machines present in the system. The Chapman-Kolmogorov differential equations obtained for the reliable server under single vacation model is solved through ODE45 （Runge-Kutta algorithm of order 4 and 5） in MATLAB programming language. The transient probabilities obtained are used to compute the operational measures of performance for the systems. The following time dependent operational measures of performance for the system are obtained： expected number of failed machines, expected number of operating machines, machine availability, expected idle period, expected busy period, operational utilization of the machine, the variance of the expected number of failed machine and variance of expected number of operating machine in the system. The effects of failure rate of machines, service rate of failed machines and the number of operating machines are investigated; it is observe that the rate at which machine fails and is serviced, affect the expected number of failed and operating machines in the system. The CPU time for obtaining the transient results for the systems and the variance of the systems are reported in this work.
文摘Teleoperation rendezvous and docking can be used as a backup for autonomous rendezvous and docking (RVD) for an unmanned spacecraft or for guiding the chaser docking with an uncooperative target.The inherent teleoperation time delay is a rigorous problem,especially when the chaser is teleoperated on the ground.To eliminate the effect of time delay,a new approach for teleoperation RVD is studied.The characteristics of teleoperation RVD are analyzed by comparisons with the teleoperation robot and with manually controlled RVD;the relative motion of the chaser is predicted based on the C-W equation;and the processed measure information with time delay through the Kalman filter is utilized to correct the current prediction.Experimental results verify that the approach produces an 18% enhanced success rate of teleoperation RVD compared with direct visual feedback,and consumes less time and fuel.The developed approach also solves the time delay problem effectively.Teleoperation RVD using this method can be applied as a useful backup for autonomous RVD.
