Дисертації з теми "Holonomic system"
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Yuan, Hongliang. "Control of NonH=holonomic Systems." Doctoral diss., University of Central Florida, 2009. http://digital.library.ucf.edu/cdm/ref/collection/ETD/id/2751.
Повний текст джерелаPh.D.
School of Electrical Engineering and Computer Science
Engineering and Computer Science
Electrical Engineering PhD
Rebahi, Yacine. "Irrégularité des D-modules algébriques holonomes." Université Joseph Fourier (Grenoble ; 1971-2015), 1996. http://www.theses.fr/1996GRE10205.
Повний текст джерелаDelmas, Pierre. "Génération active des déplacements d'un véhicule agricole dans son environnement." Phd thesis, Université Blaise Pascal - Clermont-Ferrand II, 2011. http://tel.archives-ouvertes.fr/tel-00669534.
Повний текст джерелаOrtiz, Morales Daniel. "Virtual Holonomic Constraints: from academic to industrial applications." Doctoral thesis, Umeå universitet, Institutionen för tillämpad fysik och elektronik, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-87707.
Повний текст джерелаTöyrä, Daniel. "Fidelity of geometric and holonomic quantum gates for spin systems." Thesis, Uppsala universitet, Teoretisk kemi, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-222152.
Повний текст джерелаStroot, Holger [Verfasser]. "Strong Approximation of Stochastic Mechanical Systems with Holonomic Constraints / Holger Stroot." München : Verlag Dr. Hut, 2019. http://d-nb.info/1196415595/34.
Повний текст джерелаFrolík, Stanislav. "Geometrická teorie řízení na nilpotentních Lieových grupách." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2019. http://www.nusl.cz/ntk/nusl-399583.
Повний текст джерелаSeiler, Konstantin. "Fast trajectory generation and correction for non-holonomic systems exploiting Lie group symmetries." Thesis, The University of Sydney, 2013. http://hdl.handle.net/2123/10117.
Повний текст джерелаMauny, Johan Raphaël. "Modélisation dynamique des systèmes non-holonomes intermittents : application à la bicyclette." Thesis, Ecole nationale supérieure Mines-Télécom Atlantique Bretagne Pays de la Loire, 2018. http://www.theses.fr/2018IMTA0113.
Повний текст джерелаThis thesis deals with the dynamic modelling of intermittent non-holonomic systems andits application to the Whipple 3D bicycle. To that end, we relied on a set of tools in geometric mechanics (mainly Lagrangian reduction and the projection in the kernel of the kinematic constraints). In the first instance, we have addressed the case of the bicycle subjected to persistent contacts. By defining the space of the bicycle configurations as a principal fibre bundle with SE(3) as structural group, we obtained a model of the contact points and of the constraints free of any non-linearities associated with a generalized coordinate type configuration. This formulation allowed us to obtain the kernel of the constraints in a symbolic form without singularity. We then produced a symbolic model of the dynamics ofthe bicycle subjected to persistent contacts using the projection reduction method of its free dynamics in the subspace of its permissible speeds. This approach extends the general framework developed in recent years for bio-inspired locomotion. Taking advantage of the structure of SE(3), a model of the intermittent bicycle was proposed as part of an event-driven approach. Moreover, the adoption ofthe physical model of plastic impact has allowed us to extend the projection reduction method to the intermittent case. We then compared our "reduced" approach to the conventional approach and showed that they shared a common geometric interpretation. These tools were finally applied to the simulation of the intermittent bicycle to illustrate its rich dynamics
Abdel, Gadir Basil. "Analyse microlocale des systèmes différentiels holonomes." Grenoble 1, 1992. http://www.theses.fr/1992GRE10071.
Повний текст джерелаBorzone, Tommaso. "Decentralized control of multi-agent systems : a hybrid formalism." Thesis, Université de Lorraine, 2019. http://www.theses.fr/2019LORR0078/document.
Повний текст джерелаOver the last years, multi-agents problems have been extensively studied from the control theory community. One of the most popular multi-agents control topics is the consensus problem where a group of agents reaches an agreement over the value of a certain parameter or variable. In this work we focus our attention on the consensus problem of networks of non-linear reference tracking agents. In first place, we use sporadic interactions modeled by relative sensing to deal with the decentralized consensus of the references. The reference is therefore feeded the tracking dynamics of each agent. Differently from existent works, the stability analysis of the overall system required the usage of hybrid systems theory tools, due to dual nature of the two stages approach. The analysis is carried out considering different scenarios of network topology and interactions. For each case a stability sufficient condition in terms of the minimum allowed time between two consecutive reference updates is provided. The proposed framework is applied to the rendez-vous and formation realisation tasks for non-holonomic mobile robots, which appear among the richest research topics in recent years. The same problem is addressed in the context of a real field application, namely a fleet management system for a group of robotic vehicles deployable in an industrial environment for monitoring and data collection purpose. The development of such application was motivated by the fact that this thesis is part of the Future of Factory Lorraine (FFLOR) project, developed by the technological research department of the Commissariat à l'énergie atomique et aux énergies alternatives (CEA tech)
Mettin, Uwe. "Applications of the Virtual Holonomic Constraints Approach : Analysis of Human Motor Patterns and Passive Walking Gaits." Licentiate thesis, Umeå : Department of Applied Physics and Electronics, Umeå University, 2008. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-1873.
Повний текст джерелаShedied, Samy Aly. "Optimal Control for a Two Player Dynamic Pursuit Evasion Game; The Herding Problem." Diss., Virginia Tech, 2002. http://hdl.handle.net/10919/26110.
Повний текст джерелаPh. D.
Li, Shunjie. "Géométrie et classification des systèmes de contact : applications du contrôle des systèmes mécaniques non holonomes." Phd thesis, INSA de Rouen, 2010. http://tel.archives-ouvertes.fr/tel-00665223.
Повний текст джерелаBelato, Debora. "Analise não linear de sistemas dinamicos holonomos não ideais." [s.n.], 2002. http://repositorio.unicamp.br/jspui/handle/REPOSIP/264610.
Повний текст джерелаTese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecanica
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Resumo: Sistemas dinâmicos da mecânica muitas vezes unem o comportamento descrito por leis de movimento à dinâmica do seu funcionamento. Sua solução passa por hipóteses simplificadoras adotadas para obter um modelo matemático representativo e útil. Quando a fonte de energia utilizada no acionamento do movimento possui potência limitada, isto é, não há potência suficiente no motor para um correto funcionamento do mecanismo, o sistema dinâmico é dito não-ideal. Sob esta suposição, investiga-se numericamente neste trabalho o sistema não linear de um problema específico procurando identificar as condições não lineares e não-ideais de movimento. São empregadas técnicas clássicas de análise de sistemas não lineares, porém é desenvolvida uma técnica numérica nova, capaz de descrever o comportamento dinâmico das principais soluções do sistema. Esta técnica consiste no cálculo de funções polinomiais capazes de descrever a estabilidade de um conjunto de soluções em uma região limitada do retrato de fase e que fornecem também um completo diagrama de bifurcação das soluções sem que tenha sido feita qualquer simplificação nas equações diferenciais
Abstract: Several times the mechanical systems join the behavior described by laws of motion to the dynamic of their operation. Their solution pass by adopted simplified hypotheses in order to obtain a representative and helpful mathematical model. When the energy source used in the bringing to the action of the motion has limited power, i.e., there is not sufficient power in the motor for a proper working of the mechanism and the dynamic system is called nonideal. On this supposition, we numerically investigate in this work the nonlinear system of a specific problem looking for identify the nonideal and nonlinear conditions of the motion. Classical techniques of analyses of nonlinear systems are used, however it is develop a new numerical approaching, able to describe the dynamical behavior of the main solutions of the system. This technique consists in the calculation of the polynomials functions that describe the stability of a set of solutions concerning a bounded region on the phase portrait and they also provide a complete bifurcation diagram of the solutions without that any simplification in the diferential equations has been done
Doutorado
Mecanica dos Sólidos e Projeto Mecanico
Doutor em Engenharia Mecânica
Rodriguez, Sebastián. "From analysis to design of holonic multi-agent systems : a framework, methodological guidelines and applications." Besançon, 2006. http://www.theses.fr/2005BESA2058.
Повний текст джерелаThe work presented in this PhD thesis is concerned with the development of a framework for Holonic MultiAgent Systems. This type of systems consists in self-similar structures called holons. A set of holons may be seen, depending on the level of observation, as a unique entity or as a group of holons in interaction. In order to conceive a generic and modular modeling framework, we use an organizational approach. We define then the behavior of the frame work entities in terms of roles and their interactions. The framework is concerned with the modeling and representation of three important aspects of a Holonic MAS. Holon Structure and Management : This part of the framework considers how the members organize and manage the super-holon. It offers a specific organization whose roles define the status of the member from the super-holon's point of view. Goal-Dependent Interactions : In order to achieve the goals/tasks of the super-holon, the members must interact and coordinate their actions. These goal-dependent behaviors are called Internal Organizations and our framework also offers means to model these aspects of the super-holons functioning. Dynamics : Dynamics are inherent characteristics of MAS. The framework considers in particular two of the most attractive characteristics of Holonic MAS: Merging (Creating and Joining a super-holon) and Self-Organization. Each organization is modeled using the Role-Interaction-Organization (RIO) Model. This model offers a formal specification of roles that enables the validation and verification of the model. We have formally specified the framework. Based on this formalization we were able to prove important properties concerning the self-organization of the system. We propose some guidelines based upon this framework for the analysis and design of Complex Systems. Two applications illustrate the concepts presented. The first uses the framework to the Adaptive Meshing Problem applied to the dimensioning of radiomobile networks. It illustrates the refinement of a self-organization module and formal specification. The second presents the use of holonic MAS for the simulation of an important industrial plant. Multiple holarchies are used to capture the interaction between the production and traffic inside the plant. In order to implement these concepts we propose a set of modules based on the MadKit platform
Byrd, Mark Steven. "Representations of SU(3) and geometric phases for three-state systems /." Digital version accessible at:, 1999. http://wwwlib.umi.com/cr/utexas/main.
Повний текст джерелаBohnet, Doris Verfasser], and Christian [Akademischer Betreuer] [Bonatti. "Partially hyperbolic systems with a compact center foliation with finite holonomy / Doris Bohnet. Betreuer: Christian Bonatti." Hamburg : Staats- und Universitätsbibliothek Hamburg, 2011. http://d-nb.info/1020466790/34.
Повний текст джерелаChu, Xing. "Commande distribuée, en poursuite, d'un système multi-robots non holonomes en formation." Thesis, Ecole centrale de Lille, 2017. http://www.theses.fr/2017ECLI0035/document.
Повний текст джерелаThe main aim of this thesis is to study the distributed tracking control problem for the multi-robot formation systems with nonholonomic constraint, of which the control objective it to drive a team of unicycle-type mobile robots to form one desired formation configuration with its centroid moving along with another dynamic reference trajectory, which can be specified by the virtual leader or human. We consider several problems in this point, ranging from finite-time stability andfixed-time stability, event-triggered communication and control mechanism, kinematics and dynamics, continuous-time systems and hybrid systems. The tracking control problem has been solved in this thesis via developing diverse practical distributed controller with the consideration of faster convergence rate, higher control accuracy, stronger robustness, explicit and independent convergence time estimate, less communication cost and energy consumption.In the first part of the thesis, we first study the finite-time stability for the multi-robot formation systems in Chapter 2. To improve the pior results, a novel class of finite-time controller is further proposed in Chapter 3, which is also called fixed-time controller. The dynamics of nonholonomic multi-robot formation systems is considered in Chapter 4. In the second part, we first investigate the event-triggered communication and control mechanism on the nonholonomic multi-robot formation tracking systems in Chapter 5. Moreover, in order to develop a digital implement scheme, we propose another class of periodic event-triggered controller based on fixed-time observer in Chapter 6
Pasquotti, Maura. "Topics on Optimization Strategies for Constrained Mechanical Systems." Doctoral thesis, Università degli studi di Padova, 2008. http://hdl.handle.net/11577/3425582.
Повний текст джерелаSmall, Scott Joseph. "Runge-Kutta type methods for differential-algebraic equations in mechanics." Diss., University of Iowa, 2011. https://ir.uiowa.edu/etd/1082.
Повний текст джерелаMettin, Uwe. "Principles for planning and analyzing motions of underactuated mechanical systems and redundant manipulators." Doctoral thesis, Umeå universitet, Institutionen för tillämpad fysik och elektronik, 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-30024.
Повний текст джерелаLa, Hera Pedro. "Underactuated mechanical systems : Contributions to trajectory planning, analysis, and control." Doctoral thesis, Umeå universitet, Institutionen för tillämpad fysik och elektronik, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-39719.
Повний текст джерелаBraconnier, Jean-Baptiste. "Maintien de l'intégrité de robots mobiles en milieux naturels." Thesis, Clermont-Ferrand 2, 2016. http://www.theses.fr/2016CLF22667/document.
Повний текст джерелаThis thesis focused on the issue of the preseving of the integrity of mobile robots in off-road conditions. The objective is to provide control laws to guarantee the integrity of a vehicle during autonomous displacements in natural environments at high speed (5 to 7 m.s -1 ) and more particularly in The framework of precision farming. Integrity is here understood in the broad sense. Indeed, control of the movements of a mobile robot can generate orders that affect its physical integrity, or restrains the achievement of its task (rollover, spin, control stability, maintaining accuracy , etc.). Moreover, displacement in natural environments leads to problems linked in particular to relatively variable and relatively low adhesion conditions (especially since the speed of the vehicle is high), which results in strong sliding of wheels on the ground, or to ground geometries that can not be crossed by the robot. This thesis aims to determine in real time the stability space in terms of permissible controls allowing to moderate the actions of the robot. After a presentation of the existing modelings and observers that allow the use of these modelizations for the implementation of predictive control law for trajectory tracking, a new method of estimation of side-slip angles based on a kinematic observation is proposed. It permit to address the problem of variable speed of the vehicle (and in particular the case of zero values) and also to allow the observation during a displacement without reference trajectory. This new observer is essential for the further development of this thesis, since the rest of the work is concerned with the modulation of the speed of the vehicle. So, in the further work, two predictive control laws acting on the speed of the vehicle have been set up. The first one provides a solution to the problem of the saturation of steering actuators, when the speed or side-slip angles make the trajectory inadmissible to follow with respect to the physical capacities of the vehicle. The second one adress the problem of guaranteeing the accuracy of trajectory tracking (keeping the vehicle in a corridor of displacement). In both cases, the control strategy is similar: the future state of the vehicle is predicted according to the current conditions of evolution and the simulated one for the future evolution (obtained by simulating the evolution of dynamics models of the vehicle) in order to determine the value of the optimum speed so that the target variables (in one case the value of the steering and in the other the lateral deviation from the trajectory) comply with the imposed conditions (not exceeding a target value). The results presented in this thesis were realized either in simulations or in real conditions on robotic platforms. It follows that the proposed algorithms make it possible : in one case to reduce the speed of the vehicle in order to avoid the saturation of the steering actuator and therefore the resulting over and under steering phenomena and thus make it possible to preserve the vehicle’s controllability. And in the other case, to ensure that the lateral deviation from the trajectory remains below a target value
Arechavaleta, Servin Gustavo. "An optimality principle governing human walking." Toulouse, INSA, 2007. http://eprint.insa-toulouse.fr/archive/00000193/.
Повний текст джерелаRoithmayr, Carlos. "Relating constrained motion to force through Newton's second law." Diss., Available online, Georgia Institute of Technology, 2007, 2007. http://etd.gatech.edu/theses/available/etd-03302007-125659/.
Повний текст джерелаBauchau, Olivier, Committee Member ; Hodges, Dewey, Committee Chair ; Singhose, William, Committee Member ; Costello, Mark, Committee Member ; Flannery, Raymond, Committee Member.
Tchappi, haman Igor. "Dynamic Multilevel and Holonic Model for the Simulation of a Large-Scale Complex System with Spatial Environment : Application to Road Traffic Simulation." Thesis, Bourgogne Franche-Comté, 2020. http://www.theses.fr/2020UBFCA004.
Повний текст джерелаNowadays, with the emergence of connected objects and cars, road traffic systems become more and more complex and exhibit hierarchical behaviours at several levels of detail. The multilevel modeling approach is an appropriate approach to represent traffic from several perspectives. Multilevel models are also an appropriate approach to model large-scale complex systems such as road traffic. However, most of the multilevel models of traffic proposed in the literature are static because they use a set of predefined levels of detail and these representations cannot change during simulation. Moreover, these multilevel models generally consider only two levels of detail. Few works have been interested on the dynamic multilevel traffic modeling.This thesis proposes a holonic multilevel and dynamic traffic model for large scale traffic systems. The dynamic switching of the levels of detail during the execution of the simulation allows to adapt the model to the constraints related to the quality of the results or to the available computing resources.The proposal extends the DBSCAN algorithm in the context of holonic multi-agent systems. In addition, a methodology allowing a dynamic transition between the different levels of detail is proposed. Multilevel indicators based on standard deviation are also proposed in order to assess the consistency of the simulation results
Bott, M. P. "A new, robust, and generic method for the quick creation of smooth paths and near time-optimal path tracking." Thesis, University of St Andrews, 2011. http://hdl.handle.net/10023/2095.
Повний текст джерелаAdoum, Ahmat Fadil. "Proposition d’une architecture de surveillance holonique pour l’aide à la maintenance proactive d’une flotte de systèmes mobiles : application au domaine ferroviaire." Thesis, Valenciennes, 2019. http://www.theses.fr/2019VALE0001/document.
Повний текст джерелаThe maintenance of mobile systems fleets in the world of transport and logistics is of increasing importance today due to the increasing expectations of operators in terms of safety, reliability, monitoring, diagnosis and maintenance of these systems. In this context, fleet maintainers often have to deal with huge amounts of raw data, information and monitoring events related to the context of their systems. Moreover, these events, data and information are often lack precision and often contradictory or obsolete. Finally, the urgency of maintenance decisions is rarely taken into account. This work is devoted to the proposal and the development of a monitoring architecture to help maintain a fleet of mobile systems. This architecture, called EMH², is intended to facilitate the diagnosis and monitoring of this type of fleet. It is built on holonic principles, from the lowest (sensors) to the highest levels (a whole fleet of mobile systems). It is also based on a standardization of processed events in order to process the data generically. This architecture, independent of the types of systems monitored and their hierarchical level, can become the backbone of an effective strategy for proactive fleet maintenance. A deployment methodology is thus proposed. A simulation study and an application on a fleet of 10 trains currently in service is presented
Alamir, Mazen. "Contributions à l'étude de la commande optimale à horizon fuyant des systèmes non linéaires." Grenoble INPG, 1995. http://www.theses.fr/1995INPG0135.
Повний текст джерелаIn this work, several aspects of the receding horizon control strategy are discussed. First of all, some suffisant conditions for the stability of the closed loop system are proposed for different possible formulations (finite or infinite prediction horizon, with or without final constraint on the state). In a second part, a robust stabilizing feedback strategy is proposed to stabilize uncertain discrete-time nonlinear systems defined with additive unmatched uncertainties. The feedback law is periodic and is based on the use of optimization problems with final inequality constraints. Finally, a special class of continuous nonlinear systems is characterized for which a real time implementation of the receding horizon principle is possible through a linear quadratic optimization problem formulation
Barbosa, José. "Proposition d’une architecture holonique auto-organisée et évolutive pour le pilotage des systèmes de production." Thesis, Valenciennes, 2015. http://www.theses.fr/2015VALE0008/document.
Повний текст джерелаThe manufacturing world is being deeply challenged with a set of ever demanding constraints where from one side, the costumers are requiring products to be more customizable, with higher quality at lower prices, and on other side, companies have to deal on a daily basis with internal disturbances that range from machine breakdown to worker absence and from demand fluctuation to frequent production changes. This dissertation proposes a manufacturing control architecture, following the holonic principles developed in the ADAptive holonic COntrol aRchitecture (ADACOR) and extending it taking inspiration in evolutionary theories and making use of self- organization mechanisms. The use of evolutionary theories enrich the proposed control architecture by allowing evolution in two distinct ways, responding accordingly to the type and degree of the disturbance that appears. The first component, named behavioural self- organization, allows each system’s entity to dynamically adapt its internal behaviour, addressing small disturbances. The second component, named structural self-organization, addresses bigger disturbances by allowing the system entities to re-arrange their rela- tionships, and consequently changing the system in a structural manner. The proposed self-organized holonic manufacturing control architecture was validated at a AIP-PRIMECA flexible manufacturing cell. The achieved experimental results have also shown an improvement of the key performance indicators over the hierarchical and heterarchical control architecture
Bouffaron, Fabien. "Co-spécification système exécutable basée sur des modèles : application à la conduite interactive d’un procédé industriel critique." Thesis, Université de Lorraine, 2016. http://www.theses.fr/2016LORR0001/document.
Повний текст джерелаInsofar as a system is a set of interacting elements, the difficulty for a system engineer is to guide the whole model architecture of a system as a set of interdisciplinary engineering part models interacting. The works presented in this thesis are specifically interested in the heuristic, specifying and executable nature of this whole relationship coupling to design a virtual model of the system-of-interest. The holonic perspectives allows us to consider this coupling relationship as descriptive of a WHOLE (H) and prescriptive of each parts as well in regards to system situation to perceive, as system-elements to architect. In this sense, we revisit this relation as an iterative, recursive and collaborative process of system co-specification to the quest of knowledge with each specialist engineering delivering constitutive models satisfying basic requirements. Our system co-modelling environment is itself composed of a set of system-components modelling environment, with the stated objective to preserve tools, methods and works of each stakeholders in order to facilitate the expression of their skills. The modelling at a system level is based on the system modelling language (SysML) to architecture the set of knowledge. Verification and validation are performed by co-execution of models around a co-simulation bus, including CISPI platform of SAFETECH project of CRAN constituting our case study
Lohéac, Jérôme. "Contrôle en temps optimal et nage à bas nombre de Reynolds." Phd thesis, Université de Lorraine, 2012. http://tel.archives-ouvertes.fr/tel-00801240.
Повний текст джерелаXu, Ying-Lin, and 許應麟. "A dynamic analysis of non-holonomic constraint rigid body system." Thesis, 1997. http://ndltd.ncl.edu.tw/handle/04058865542816357909.
Повний текст джерелаHsu, Ying-Lin, and 許應麟. "A dynamic analysis of non-holonomic constraint rigid body system." Thesis, 1997. http://ndltd.ncl.edu.tw/handle/46205334916940297152.
Повний текст джерела國立臺灣大學
應用力學研究所
85
This paper follows the theories developed by C.O. Chang and V.C. Wang in 1996. They combined Gauss'' Principle of Least Constrain with State Transform to rapidly derive the minimum set of the first order state equations. It is named Constraint-Free State Equations. We apply this method to multi-rigid body nonholonomic constraint in this paper. First, for a double-wheel-roll system, we discuss three situations: non-assigned constraint, assigned track, and assign both track and velocity. Second, for a four-wheel-roll system, we mainly discuss two situations: non-assigned constraint and assigned track. From the above two cases, we conclude that it is a good method for deriving the Constrant-Free State Equations for the systems. However, there are some problems in system control should be solved, and more diecussions will be needed. Hopefully, this paper can provide some easy examples to those who are interesting in Nonholonomic Dynamics. By reading the content, they can understand more and more about this field.
Cheng, Kuang-Chih, and 鄭光志. "Numerical solutions for DAE and it's applications in non-holonomic system." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/23428666919088350039.
Повний текст джерела國立臺灣海洋大學
通訊與導航工程系
95
Abstract In this thesis, we propose a numerical method for solving the non-holonomic systems by utilizing the differential-algebraic equations (DAE's). In the field of mechanics, the non-holonomic systems are commonly seen, which have the non-integrable property, that is they can not be integrated exactly to obtain an analytic solution. Therefore, in order to have a fully understand of the properties of the solution trajectories of the non-holonomic systems, it is necessary that the numerical method is adopted. In the present dissertation, we use DAE’s to analyze the systems with non-holonomic constraints. Firstly, the non-holonomic systems are reformulated as DAE’s, and then the DAE’s are approximated by Pad´e series in order to be solved by the so-called computer algebra method. The main advantage the computer algebra method lies in that the mathematical concept can be presented much more intuitively.
Conceição, Rafael Tiago Neto Salvado Martins da. "Desenvolvimento de um sensor de docagem com aplicação em robôs holonómicos." Master's thesis, 2015. http://hdl.handle.net/10316/38990.
Повний текст джерелаCada vez mais, a área da robótica se tem dedicado ao desenvolvimento de robôs móveis destinados a prestar serviços a humanos. Desta forma, são muitas as situações em que um robô móvel necessita de realizar uma acoplagem mecânica, fazendo-o através de um processo de docagem. O objetivo deste trabalho é o desenvolvimento de um sensor de docagem de baixo custo e complexidade com aplicação em robôs holonómicos, uma vez que a maior parte das soluções encontradas não cumpriam esses parâmetros. Assim, a implementação final do sistema é composta por três LEDs de infravermelhos instalados na estação.de docagem, e por uma câmara Pixart associada a um computador de placa única Arduino, colocados no robô. O robô consegue calcular a sua posição relativamente à estação de docagem com precisão de aproximadamente 1 centímetro a 1 metro de distância através da imagem observada. Com base nessa informação, toma decisões quanto ao seu movimento. O algoritmo de movimento foi desenvolvido com a robustez em mente, para que o computador central do robô tenha o mínimo de intervenção no processo. Infelizmente, não foi possível testar eficazmente o algoritmo de docagem, uma vez que todas as formas para o fazer apresentaram grandes obstáculos à sua implementação. No entanto, a minha expetativa e da equipa com quem trabalhei é de que, resolvidos os problemas com os simuladores e/ou com a plataforma robótica, seja possível testar do ponto de vista prático o algoritmo desenvolvido e confirmar o seu potencial.
Increasingly, the area of robotics has been dedicated to the development of mobile robots designed to serve humans. Thus, there are many situations where a mobile robot needs to perform a mechanical coupling, doing so through a docking process. The objective of this work is to develop a low-cost and low complexity docking sensor with application in holonomic robots, since most of the solutions found to this problem did not meet these qualities. Thus, the final implementation of the system is composed of three infrared LEDs installed in the docking station, and a Pixart camera associated with an Arduino single board computer, placed on the robot. The robot can calculate its position relative to the docking station with an accuracy of approximately 1 cm at 1 meter distance, from the observed image. Based on this information, it makes decisions about its movement. The motion algorithm was developed with robustness in mind, so that the robot’s central computer has minimal intervention in the process. Unfortunately it was not possible to effectively test the docking algorithm, since all the ways to do this presented great implementation hurdles. However, my spectation, which is shared with the team I worked with, is that once the problems with the simulators and/or robot platform have been solved, it will be possible to test the algorithm from a practical point of view, and therefore assess its potential.
Osborne, Jason M. "On geometric control design for holonomic and nonholonomic mechanical systems." 2007. http://www.lib.ncsu.edu/theses/available/etd-05162007-123046/unrestricted/etd.pdf.
Повний текст джерелаChang, Yeong Chan, and 張永昌. "Adaptive tracking control design of holonomic and nonholonomic mechanical systems." Thesis, 1995. http://ndltd.ncl.edu.tw/handle/85077383386803225443.
Повний текст джерелаDame, Jankuloski. "Virtual Holonomic Constraints and the Synchronization of Euler-Lagrange Control Systems." Thesis, 2012. http://hdl.handle.net/1807/33253.
Повний текст джерелаJheng, Huei Sian, and 鄭暉憲. "Adaptive Fuzzy Sliding-Mode Formation Controller Design for Non-Holonomic Multi-Robot Systems." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/29826583251013025932.
Повний текст джерелаYOU, LI-XING, and 游李興. "Tracking control designs for some kinds of both holonomic and nonholonomic constrained mechanical systems." Thesis, 1992. http://ndltd.ncl.edu.tw/handle/65050459339806569544.
Повний текст джерелаBohnet, Doris. "Partially hyperbolic diffeomorphisms with a compact center foliation with finite holonomy." Phd thesis, 2011. http://tel.archives-ouvertes.fr/tel-00782664.
Повний текст джерелаChhabra, Robin. "A Unified Geometric Framework for Kinematics, Dynamics and Concurrent Control of Free-base, Open-chain Multi-body Systems with Holonomic and Nonholonomic Constraints." Thesis, 2014. http://hdl.handle.net/1807/65650.
Повний текст джерелаBrion, E., V. M. Akulin, I. Dumer, Gil Harel, and G. Kurizki. "Coherence protection by random coding." 2005. http://hdl.handle.net/10454/3991.
Повний текст джерелаWe show that the multidimensional Zeno effect combined with non-holonomic control allows one to efficiently protect quantum systems from decoherence by a method similar to classical random coding. The method is applicable to arbitrary error-inducing Hamiltonians and general quantum systems. The quantum encoding approaches the Hamming upper bound for large dimension increases. Applicability of the method is demonstrated with a seven-qubit toy computer.