Щоб переглянути інші типи публікацій з цієї теми, перейдіть за посиланням: Wegh in Motion Systems.
Дисертації з теми "Wegh in Motion Systems"
Оформте джерело за APA, MLA, Chicago, Harvard та іншими стилями
Ознайомтеся з топ-50 дисертацій для дослідження на тему "Wegh in Motion Systems".
Біля кожної праці в переліку літератури доступна кнопка «Додати до бібліографії». Скористайтеся нею – і ми автоматично оформимо бібліографічне посилання на обрану працю в потрібному вам стилі цитування: APA, MLA, «Гарвард», «Чикаго», «Ванкувер» тощо.
Також ви можете завантажити повний текст наукової публікації у форматі «.pdf» та прочитати онлайн анотацію до роботи, якщо відповідні параметри наявні в метаданих.
Переглядайте дисертації для різних дисциплін та оформлюйте правильно вашу бібліографію.
1
Dai, Chengxin. "Exploring Data Quality of Weigh-In-Motion Systems." PDXScholar, 2013. https://pdxscholar.library.pdx.edu/open_access_etds/1018.
Повний текст джерелаАнотація:
This research focuses on the data quality control methods for evaluating the performance of Weigh-In-Motion (WIM) systems on Oregon highways. This research identifies and develops a new methodology and algorithm to explore the accuracy of each station's weight and spacing data at a corridor level, and further implements the Statistical Process Control (SPC) method, finite mixture model, axle spacing error rating method, and data flag method in published research to examine the soundness of WIM systems. This research employs the historical WIM data to analyze sensor health and compares the evaluation results of the methods. The results suggest the new triangulation method identified most possible WIM malfunctions that other methods sensed, and this method unprecedentedly monitors the process behavior with controls of time and meteorological variables. The SPC method appeared superior in differentiating between sensor noises and sensor errors or drifts, but it drew wrong conclusions when accurate WIM data reference was absent. The axle spacing error rating method cannot check the essential weight data in special cases, but reliable loop sensor evaluation results were arrived at by employing this multiple linear regression model. The results of the data flag method and the finite mixed model results were not accurate, thus they could be used as additional tools to complement the data quality evaluation results. Overall, these data quality analysis results are the valuable sources for examining the early detection of system malfunctions, sensor drift, etc., and allow the WIM operators to correct the situation on time before large amounts of measurement are lost.
2
Weng, Ying. "Operational effects of weigh-in-motion systems in weight enforcement." Thesis, This resource online, 1995. http://scholar.lib.vt.edu/theses/available/etd-12302008-063629/.
Повний текст джерела
3
Bowie, Jeanne M. "Development of a weigh-in-motion system using acoustic emission sensors." Doctoral diss., University of Central Florida, 2011. http://digital.library.ucf.edu/cdm/ref/collection/ETD/id/4851.
Повний текст джерелаАнотація:
Statistical models for weight using the laboratory data and using the field data were developed. Dimensional analysis variables as well as other relevant measurable parameters were used in the development of the statistical models. The model created for the April 2009 dataset was validated, with only 27 lbs average error in the weight calculation as compared with the weight measurement made with the weigh station weigh-in-motion scale. The maximum percent error for the weight calculation was 204%, with about 65% of the data falling within 30% error. Additional research will be needed to develop an acoustic emission weigh-in-motion system with adequate accuracy for a commercial product. Nevertheless, this dissertation presents a valuable contribution to the effort of developing a low-cost acoustic emission weigh-in-motion scale. Future research needs that were identified as part of this dissertation include: bullet] Examination of the effects of pavement type (flexible or rigid), vehicle speeds greater than 50 mph, and temperature bullet] Determination of the best acoustic emission sensor for this system bullet] Exploration of the best method to separate the data from axles which pass over the equipment close together in time (such as tandem axles) bullet] Exploration of the effect of repeated measures on improving the accuracy of the system.; The acoustic emission response in the metal test strip to the motorcycle tire rolling over it was detected by the acoustic emission sensors and analyzed by the computer. Initial examinations of the data showed a correlation between the force of the tire against the cylinder and the energy and count of the acoustic emissions. Subsequent field experiments were performed at a weigh station on I-95 in Flagler County, Florida. The proposed weigh-in-motion system (the metal test bar with attached acoustic emission sensors) was installed just downstream of the existing weigh-in-motion scale at the weigh station. Commercial vehicles were weighed on the weigh station weigh-in-motion scale and acoustic emission data was collected by the experimental system. Test data was collected over several hours on two different days, one in July 2008 and the other in April 2009. Initial examination of the data did not show direct correlation between any acoustic emission parameter and vehicle weight. As a result, a more sophisticated model was developed. Dimensional analysis was used to examine possible relationships between the acoustic emission parameters and the vehicle weight. In dimensional analysis, a dimensionally correct equation is formed using measurable parameters of a system. The dimensionally correct equation can then be tested using experimental data. Dimensional analysis revealed the possible relationships between the acoustic emission parameters and the vehicle weight: w=f (gE/v??, YA, rE/Dsquare root of A], cE/square root of A], csubscript p]E/square root of A], E??/square root of A]multiplication dot]AbsE, aE/square root of A]) The defintions of these variables can be found in Appendix A.; This dissertation proposes a system for weighing commercial vehicles in motion using acoustic emission sensors attached to a metal bar placed across the roadway. The signal from the sensors is analyzed by a computer and the vehicle weight is determined by a statistical model which correlates the acoustic emission parameters to the vehicle weight. Such a system would be portable and low-cost, allowing for the measurement of vehicle weights in much the same way commercial tube and radar counters routinely collect vehicle speed and count. The system could be used to collect vehicle speed and count data as well as weight information. Acoustic emissions are naturally occurring elastic waves produced by the rapid release of energy within a material. They are caused by deformation or fracturing of a solid due to thermal or mechanical stress. Acoustic emission sensors have been developed to detect these waves and computer software and hardware have been developed to analyze and provide information about the waveforms. Acoustic emission testing is a common form of nondestructive testing and is used for pressure vessel testing, leak detection, machinery monitoring, structural integrity monitoring, and weld monitoring, among other things (Miller, 1987). For this dissertation, acoustic emission parameters were correlated to the load placed on the metal test bar to determine the feasibility of using a metal test bar to measure the weight of a vehicle in motion. Several experiments were done. First, the concept was tested in a laboratory setting using an experimental apparatus. A concrete cylinder was mounted on a frame and rotated using a motor. The metal test bar was applied directly to the surface of the cylinder and acoustic emission sensors were attached to each end of the bar. As the cylinder rotated, a motorcycle tire was pushed up against the cylinder using a scissor jack to simulate different loads.ID: 029809680; System requirements: World Wide Web browser and PDF reader.; Mode of access: World Wide Web.; Thesis (Ph.D.)--University of Central Florida, 2011.; Includes bibliographical references (p. 130-133).
Ph.D.
Doctorate
Civil, Environmental and Construction Engineering
Engineering and Computer Science
4
Seegmiller, Luke W. "Utah Commercial Motor Vehicle Weigh-in-Motion Data Analysis and Calibration Methodology." Diss., CLICK HERE for online access, 2006. http://contentdm.lib.byu.edu/ETD/image/etd1616.pdf.
Повний текст джерела
5
Bock, André Luiz. "Pesagem em movimento de cargas atuantes em rodovias e seu impacto no desempenho de pavimentos da rede temática de asfalto." reponame:Biblioteca Digital de Teses e Dissertações da UFRGS, 2016. http://hdl.handle.net/10183/156809.
Повний текст джерелаАнотація:
Nas últimas décadas os pavimentos rodoviários brasileiros têm tido seu desempenho comprometido devido a uma série de fatores, entre eles incluem-se não somente o crescente aumento do volume de tráfego de veículos pesados e aumento de sua capacidade de transporte, mas principalmente a circulação com cargas acima dos limites legais estabelecidos, configurando uma situação crítica para a sua adequada durabilidade da estrutura projetada. Paralelamente aos investimentos necessários, é importante também o desenvolvimento de métodos mais racionais de dimensionamento de pavimentos contemplando as especificidades dos materiais empregados e levando em consideração as condições climáticas e, principalmente uma completa e detalhada caracterização do tráfego solicitante. Neste contexto apresentado, a pesquisa insere-se em dois importantes estudos. O acompanhamento construtivo e monitoramento sistemático de desempenho de dois trechos na rodovia BR-448/RS e a continuidade do monitoramento de outros dois na BR-290/RS, trecho em concessão entre Osório e Porto Alegre (Freeway). Estas atividades inserem-se no “Projeto Integrado da Rede Temática de Tecnologia em Asfalto Petrobras/ANP", de abrangência nacional, para desenvolvimento de um novo método brasileiro de dimensionamento de pavimentos O segundo estudo trata-se de um completo monitoramento de cargas na Freeway, através da instalação e operacionalização inédita de um equipamento de pesagem dinâmica de alta velocidade (Hight Speed Weigh-in-Motion – HS-WIM) para determinação do espectro de cargas e posterior análise de sua influência no desempenho de pavimentos. Com ambos os estudos foi possível, além de determinar o espectro de cargas, os carregamentos médios e os níveis de sobrecargas praticados naquela rodovia, verificar como estas cargas influenciam o desempenho do pavimento e confrontar estes dados com as tendências observadas através do monitoramento sistemático dos trechos analisados. Por meio do desenvolvimento do presente trabalho pretende-se contribuir para melhorias na engenharia rodoviária e de tráfego através da inserção de novas tecnologias de monitoramento e fiscalização das cargas transportadas e contribuir com o desenvolvimento de um novo método de dimensionamento de pavimentos flexíveis proposto pela Rede Temática de Asfalto, através do levantamento de dados nos trechos experimentais para desenvolvimento de modelos de desempenho e sua posterior inserção nos modelos de calibração.In recent decades the Brazilian road pavements have had their performance reduced due to a number of factors, not only the increasing volume of heavy vehicles and increased transport capacity, but mainly the flow with loads above the established legal limits, setting a critical situation for the durability of the designed structure. Alongside the necessary investment, it is also important to the development of more rational methods of pavement design, considering the specificities of the materials used and taking into account the climatic conditions and a complete and detailed characterization of the traffic. In this context, the research was developed to attain two main objectives: the construction monitoring and systematic assessment of performance of two test sections built in BR-448/RS highway and the continuity of assesment of two others previously built in BR-290/RS, between Osório and Porto Alegre (known as Freeway). These activities are part of the "Integrated Project Theme Technology Network Petrobras Asphalt/ANP", a nationwide project aimed at developing a new Brazilian method for pavement design The second objective was to conduct a comprehensive monitoring loads study on the Freeway, by installing and carrying on an unprecedented operation of a dynamic weighting equipment of high speed (High speed weigh-in-Motion - HS-WIM) to determine the loads spectrum and subsequent analysis of the influence on pavement performance. Both studies made possible to determine the loads spectrum, average loads and levels of overloads practiced on that highway, to estimate how these loads affect the pavement performance and to compare these data with the trends observed through the systematic assessment of the analyzed sections. This work aims to contribute to improvements in road and traffic engineering, by introducing new monitoring technologies, monitoring the transported cargo and contributing to the development of a new design method of flexible pavements, a major goal of the Thematic Network of Asphalt, to be achieved through experimental data collection in test sections, the development of performance models and their subsequent insertion in the calibration models.
6
Lydon, Myra. "Next generation bridge weigh-in-motion system using optical sensors." Thesis, Queen's University Belfast, 2016. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.707822.
Повний текст джерела
7
Xue, Wenjing. "Integrated transportation monitoring system for both pavement and traffic." Diss., Virginia Tech, 2013. http://hdl.handle.net/10919/23217.
Повний текст джерелаАнотація:
In the passing decades, the monitoring of pavements and passing vehicles was developed vigorously with the growth of information and sensing technology. Pavement monitoring is an essential part of pavement research and plays an important role in transportation system. At the same time, the monitoring system about the traffic, such as Weigh-in-Motion (WIM) system and traffic classification system, also attracted lots of attention because of their importance in traffic statistics and management. The monitoring system in this dissertation combines the monitoring for pavements and traffic together with the same sensing network. For pavement health monitoring purpose, the modulus of the asphalt layer can be back-calculated based on the collected mechanical responses under corresponding environmental conditions. At the same time, the actually strain and stress in pavements induced by each passing vehicle are also used for pavement distress prediction. For traffic monitoring purpose, the horizontal strain traces are analyzed with a Gaussian model to estimate the speed, wandering position, weight and classification of each passing vehicle. The whole system, including the sensing network and corresponding analysis method, can monitor the pavement and the traffic simultaneously, and is called transportation monitoring system. This system has a high efficiency because of its low cost and easy installation; multi-functionality to provide many important information of transportation system.
Many related studies were made to improve the prototyped transportation monitoring system. With the assistance of numerical simulation software ABAQUS and 3D-Move, the effect of many loading and environmental conditions, including temperature, vehicle speed, tire configuration and inflation pressure, are taken into consideration. A method was set up to integrate data points from many tests of similar environmental and loading conditions based on Gaussian model. Another method for consistent comparison of variable field sensor data was developed. It was demonstrated that variation in field measurement was due to uncontrollable environmental and loading factors, which may be accounted for by using laboratory test and numerical simulation based corrections.
Ph. D.
8
Zhang, Zhiming. "An Integrated System for Road Condition and Weigh-in-Motion Measurements using In-Pavement Strain Sensors." Diss., North Dakota State University, 2016. http://hdl.handle.net/10365/25819.
Повний текст джерелаАнотація:
The United States has the world?s largest road network with over 4.1 million miles of roads supporting more than 260 million of registered automobiles including around 11 million of heavy trucks. Such a large road network challenges the road and traffic management systems such as condition assessment and traffic monitoring. To assess the road conditions and track the traffic, currently, multiple facilities are required simultaneously. For instance, vehicle-based image techniques are available for pavements? mechanical behavior detection such as cracks, high-speed vehicle-based profilers are used upon request for the road ride quality evaluation, and inductive loops or strain sensors are deployed inside pavements for traffic data collection. Having multiple facilities and systems for the road conditions and traffic information monitoring raises the cost for the assessment and complicates the process. In this study, an integrated system is developed to simultaneously monitor the road condition and traffic using in-pavement strain-based sensors, which will phenomenally simplify the road condition and traffic monitoring. To accomplish such a superior system, this dissertation designs an innovative integrated sensing system, installs the integrated system in Minnesota's Cold Weather Road Research Facility (MnROAD), monitors the early health conditions of the pavements and ride quality evaluation, investigates algorithms by using the developed system for traffic data collection especially weigh-in-motion measurements, and optimizes the system through optimal system design. The developed integrated system is promising to use one system for multiple purposes, which gains a considerable efficiency increase as well as a potential significant cost reduction for intelligent transportation system.USDOT (U.S. Department of Transportation)
MPC (Mountain-Plains Consortium)
9
Al-Tarawneh, Mu'ath. "Traffic Monitoring System Using In-Pavement Fiber Bragg Grating Sensors." Diss., North Dakota State University, 2019. https://hdl.handle.net/10365/31539.
Повний текст джерелаАнотація:
Recently, adding more lanes becomes less and less feasible, which is no longer an applicable solution for the traffic congestion problem due to the increment of vehicles. Using the existing infrastructure more efficiently with better traffic control and management is the realistic solution. An effective traffic management requires the use of monitoring technologies to extract traffic parameters that describe the characteristics of vehicles and their movement on the road. A three-dimension glass fiber-reinforced polymer packaged fiber Bragg grating sensor (3D GFRP-FBG) is introduced for the traffic monitoring system. The proposed sensor network was installed for validation at the Cold Weather Road Research Facility in Minnesota (MnROAD) facility of Minnesota Department of Transportation (MnDOT) in MN. A vehicle classification system based on the proposed sensor network has been validated. The vehicle classification system uses support vector machine (SVM), Neural Network (NN), and K-Nearest Neighbour (KNN) learning algorithms to classify vehicles into categories ranging from small vehicles to combination trucks. The field-testing results from real traffic show that the developed system can accurately estimate the vehicle classifications with 98.5 % of accuracy. Also, the proposed sensor network has been validated for low-speed and high-speed WIM measurements in flexible pavement. Field testing validated that the longitudinal component of the sensor has a measurement accuracy of 86.3% and 89.5% at 5 mph and 45 mph vehicle speed, respectively. A performed parametric study on the stability of the WIM system shows that the loading position is the most significant parameter affecting the WIM measurements accuracy compared to the vehicle speed and pavement temperature. Also the system shows the capability to estimate the location of the loading position to enhance the system accuracy.
10
Binks, P. N. "Orbital motion in stellar systems." Thesis, University of Oxford, 1988. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.233397.
Повний текст джерела
11
Dobie, Mark Ralph. "Motion analysis in multimedia systems." Thesis, University of Southampton, 1992. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.359240.
Повний текст джерела
12
Schultz, Grant George. "Developing a methodology to account for commercial motor vehicles using microscopic traffic simulation models." Diss., Texas A&M University, 2003. http://hdl.handle.net/1969.1/111.
Повний текст джерелаАнотація:
The collection and interpretation of data is a critical component of traffic and transportation engineering used to establish baseline performance measures and to forecast future conditions. One important source of traffic data is commercial motor vehicle (CMV) weight and classification data used as input to critical tasks in transportation design, operations, and planning. The evolution of Intelligent Transportation System (ITS) technologies has been providing transportation engineers and planners with an increased availability of CMV data. The primary sources of these data are automatic vehicle classification (AVC) and weigh-in-motion (WIM). Microscopic traffic simulation models have been used extensively to model the dynamic and stochastic nature of transportation systems including vehicle composition. One aspect of effective microscopic traffic simulation models that has received increased attention in recent years is the calibration of these models, which has traditionally been concerned with identifying the "best" parameter set from a range of acceptable values. Recent research has begun the process of automating the calibration process in an effort to accurately reflect the components of the transportation system being analyzed. The objective of this research is to develop a methodology in which the effects of CMVs can be included in the calibration of microscopic traffic simulation models. The research examines the ITS data available on weight and operating characteristics of CMVs and incorporates this data in the calibration of microscopic traffic simulation models. The research develops a methodology to model CMVs using microscopic traffic simulation models and then utilizes the output of these models to generate the data necessary to quantify the impacts of CMVs on infrastructure, travel time, and emissions. The research uses advanced statistical tools including principal component analysis (PCA) and recursive partitioning to identify relationships between data collection sites (i.e., WIM, AVC) such that the data collected at WIM sites can be utilized to estimate weight and length distributions at AVC sites. The research also examines methodologies to include the distribution or measures of central tendency and dispersion (i.e., mean, variance) into the calibration process. The approach is applied using the CORSIM model and calibrated utilizing an automated genetic algorithm methodology.
13
Cuong, Nguyen Duy. "Advanced controllers for electromechanical motion systems." Enschede : University of Twente [Host], 2008. http://doc.utwente.nl/58858.
Повний текст джерела
14
Miller, Amanda Lavine 1977. "The sustainability of motion control systems." Thesis, Massachusetts Institute of Technology, 2003. http://hdl.handle.net/1721.1/29559.
Повний текст джерелаАнотація:
Thesis (M.Eng.)--Massachusetts Institute of Technology, Dept. of Civil and Environmental Engineering, 2003.Includes bibliographical references (leaves 57-60).
With all the damage to structures due to dynamic loading in the past few decades, the demand for motion control systems in structures has skyrocketed. Many different technologies for combating wind and earthquake loads have been identified. Energy dissipation devices and base isolation are two methods that reduce the damage and minimize the response of a structure. Energy dissipation of a structure removes energy and therefore movement from a structure by providing damping. Motion energy is converted to other types of less damaging energy. Base isolation is only effective against earthquakes. Bearings are placed under a building and stop ground motion from getting into the building. This thesis will provide an overview of available dampers and bearings available in the market. Then it will look at how sustainable each type of device is. Sustainability of a device will be determined by its expected lifetime and required maintenance.
by Amanda Lavine Miller.
M.Eng.
15
Chen, Ni. "Contouring control in high performance motion systems /." View abstract or full-text, 2005. http://library.ust.hk/cgi/db/thesis.pl?ELEC%202005%20CHENN.
Повний текст джерела
16
Stenbro, Roger Eivind. "Performance Analysis of Nonlinearly Controlled Motion Systems." Thesis, Norwegian University of Science and Technology, Department of Engineering Cybernetics, 2009. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-9818.
Повний текст джерелаАнотація:
In this thesis, we investige the applicability of the certain numerical methods for the solution of certain systems of partial differential equations. Numerical methods for this purpose are studied, in particular the finite element method. These systems arise from the study of extending performance analysis to general convergent nonlinear systems. It is argued that, for simplex meshes, the finite element method is not applicable to the systems. Further, it is argued that the finite element method should not be pursued as an alternative to the solution of these systems, as far better alternatives have recently been developed.
17
Kim, Jae-Hak, and Jae-Hak Kim@anu edu au. "Camera Motion Estimation for Multi-Camera Systems." The Australian National University. Research School of Information Sciences and Engineering, 2008. http://thesis.anu.edu.au./public/adt-ANU20081211.011120.
Повний текст джерелаАнотація:
The estimation of motion of multi-camera systems is one of the most important tasks in computer vision research. Recently, some issues have been raised about general camera models and multi-camera systems. Using many cameras as a single camera is studied [60], and the epipolar geometry constraints of general camera models is theoretically derived. Methods for calibration, including a self-calibration method for general camera models, are studied [78, 62]. Multi-camera systems are an example of practically implementable general camera models and they are widely used in many applications nowadays because of both the low cost of digital charge-coupled device (CCD) cameras and the high resolution of multiple images from the wide field of views. To our knowledge, no research has been conducted on the relative motion of multi-camera systems with non-overlapping views to obtain a geometrically optimal solution. ¶
In this thesis, we solve the camera motion problem for multi-camera systems by using linear methods and convex optimization techniques, and we make five substantial and original contributions to the field of computer vision. First, we focus on the problem of translational motion of omnidirectional cameras, which are multi-camera systems, and present a constrained minimization method to obtain robust estimation results. Given known rotation, we show that bilinear and trilinear relations can be used to build a system of linear equations, and singular value decomposition (SVD) is used to solve the equations. Second, we present a linear method that estimates the relative motion of generalized cameras, in particular, in the case of non-overlapping views. We also present four types of generalized cameras, which can be solvable using our proposed, modified SVD method. This is the first study finding linear relations for certain types of generalized cameras and performing experiments using our proposed linear method. Third, we present a linear 6-point method (5 points from the same camera and 1 point from another camera) that estimates the relative motion of multi-camera systems, where cameras have no overlapping views. In addition, we discuss the theoretical and geometric analyses of multi-camera systems as well as certain critical configurations where the scale of translation cannot be determined. Fourth, we develop a global solution under an L∞ norm error for the relative motion problem of multi-camera systems using second-order cone programming. Finally, we present a fast searching method to obtain a global solution under an L∞ norm error for the relative motion problem of multi-camera systems, with non-overlapping views, using a branch-and-bound algorithm and linear programming (LP). By testing the feasibility of LP at the earlier stage, we reduced the time of computation of solving LP.¶
We tested our proposed methods by performing experiments with synthetic and real data. The Ladybug2 camera, for example, was used in the experiment on estimation of the translation of omnidirectional cameras and in the estimation of the relative motion of non-overlapping multi-camera systems. These experiments showed that a global solution using L∞ to estimate the relative motion of multi-camera systems could be achieved.
18
Bonert, Martin. "Motion planning for multi-robot assembly systems." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1999. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape8/PQDD_0004/MQ45428.pdf.
Повний текст джерела
19
Lawrence, Jason William. "Improving motion of systems with coulomb friction." Thesis, Georgia Institute of Technology, 2002. http://hdl.handle.net/1853/16012.
Повний текст джерела
20
Cameron, Jonathan M. "Modeling and motion planning for nonholonomic systems." Diss., Georgia Institute of Technology, 1993. http://hdl.handle.net/1853/17793.
Повний текст джерела
21
Larkworthy, Thomas James. "Motion planning for self-reconfiguring robotic systems." Thesis, University of Edinburgh, 2012. http://hdl.handle.net/1842/6256.
Повний текст джерелаАнотація:
Robots that can actively change morphology offer many advantages over fixed shape, or monolithic, robots: flexibility, increased maneuverability and modularity. So called self-reconfiguring systems (SRS) are endowed with a shape changing ability enabled by an active connection mechanism. This mechanism allows a mechanical link to be engaged or disengaged between two neighboring robotic subunits. Through utilization of embedded joints to change the geometry plus the connection mechanism to change the topology of the kinematics, a collection of robotic subunits can drastically alter the overall kinematics. Thus, an SRS is a large robot comprised of many small cooperating robots that is able to change its morphology on demand. By design, such a system has many and variable degrees of freedom (DOF). To gain the benefits of self-reconfiguration, the process of morphological change needs to be controlled in response to the environment. This is a motion planning problem in a high dimensional configuration space. This problem is complex because each subunit only has a few internal DOFs, and each subunit's range of motion depends on the state of its connected neighbors. Together with the high dimensionality, the problem may initially appear to be intractable, because as the number of subunits grow, the state space expands combinatorially. However, there is hope. If individual robotic subunits are identical, then there will exist some form of regularity in the resulting state space of the conglomerate. If this regularity can be exploited, then there may exist tractable motion planning algorithms for self-reconfiguring system. Existing approaches in the literature have been successful in developing algorithms for specific SRSs. However, it is not possible to transfer one motion planning algorithm onto another system. SRSs share a similar form of regularity, so one might hope that a tool from mathematical literature would identify the common properties that are exploitable for motion planning. So, while there exists a number of algorithms for certain subsets of possible SRS instantiations, there is no general motion planning methodology applicable to all SRSs. In this thesis, firstly, the best existing general motion planning techniques were evaluated to the SRS motion planning problem. Greedy search, simulated annealing, rapidly exploring random trees and probabilistic roadmap planning were found not to scale well, requiring exponential computation time, as the number of subunits in the SRS increased. The planners performance was limited by the availability of a good general purpose heuristic. There does not currently exist a heuristic which can accurately guide a path through the search space toward a far away goal configuration. Secondly, it is shown that a computationally efficient reconfiguration algorithms do exist by development of an efficient motion planning algorithm for an exemplary SRS, the Claytronics formulation of the Hexagonal Metamorphic Robot (HMR). The developed algorithm was able to solve a randomly generated shape-to-shape planning task for the SRS in near linear time as the number of units in the configuration grew. Configurations containing 20,000 units were solvable in under ten seconds on modest computational hardware. The key to the success of the approach was discovering a subspace of the motion planning space that corresponded with configurations with high mobility. Plans could be discovered in this sub-space much more readily because the risk of the search entering a blind alley was greatly reduced. Thirdly, in order to extract general conclusions, the efficient subspace, and other efficient subspaces utilized in other works, are analyzed using graph theoretic methods. The high mobility is observable as an increase in the state space's Cheeger constant, which can be estimated with a local sampling procedure. Furthermore, state spaces associated with an efficient motion planning algorithm are well ordered by the graph minor relation. These qualitative observations are discoverable by machine without human intervention, and could be useful components in development of a general purpose SRS motion planner compiler.
22
Moore, Philip R. "Pneumatic motion control systems for modular robots." Thesis, Loughborough University, 1986. https://dspace.lboro.ac.uk/2134/7033.
Повний текст джерелаАнотація:
This thesis describes a research study in the design, implementation, evaluation and commercialisation of pneumatic motion control systems for modular robots. The research programme was conducted as part of a collaborative study, sponsored by the Science and Engineering Research Council, between Loughborough University and Martonair (UK) Limited. Microprocessor based motion control strategies have been used to produce low cost pneumatic servo-drives which can be used for 'point-to-point' positioning of payloads. Software based realtime control strategies have evolved which accomplish servo-controlled positioning while compensating for drive system non-linearities and time delays. The application of novel compensation techniques has resulted in a significant improvement in both the static and dynamic performance of the drive. A theoretical foundation is presented based on a linearised model of a pneumatic actuator, servo-valve, and load system. The thesis describes the design and evolution of microprocessor based hardware and software for motion control of pneumatic drives. A British Standards based test-facility has allowed control strategies to be evaluated with reference to standard performance criteria. It is demonstrated in this research study that the dynamic and static performance characteristics of a pneumatic motion control system can be dramatically improved by applying appropriate software based realtime control strategies. This makes the application of computer controlled pneumatic servos in manufacturing very attractive with cost performance ratios which match or better alternative drive technologies. The research study has led to commercial products (marketed by Martonair Ltd), in which realtime control algorithms implementing these control strategy designs are executed within a microprocessor based motion controller.
23
Aho, Daniel, and Ask Ellingsen. "Gravitational Waves from Slow Motion Binary Systems." Thesis, KTH, Skolan för teknikvetenskap (SCI), 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-210831.
Повний текст джерелаАнотація:
In this thesis we study gravitational waves in the domain of linearised general relativity. Wepresent the fundamental ideas and theory of general relativity, then, using the traditionalmeans of quadrupole approximation, we derive an expression for the power radiated as gravitationalwaves in a binary system. We limit ourselves to binary systems in the Newtonianlimit, and can therefore use Kepler’s laws in our calculations. We then use the derived expressionto explicitly predict the power radiated by the Sun-planet systems in our solar systemspecifically, regarding each system as a binary consisting of the planet and the Sun. Finally,we calculate the resulting orbital decay and find an expression for the time it would take forthe bodies to come into contact if gravitational radiation were the only means by which thesystem lost energy. As expected, the power radiated by gravitational waves is found to bevery small for systems in the Newtonian limit, and the corresponding time until impact isfound to be on the order of many times the age of the Universe.
24
Sumino, Yutaka. "Macroscopic Spontaneous Motion in Non-Biological Systems." 京都大学 (Kyoto University), 2009. http://hdl.handle.net/2433/124396.
Повний текст джерела
25
Kim, Jae-Hak. "Camera motion estimation for multi-camera systems /." View thesis entry in Australian Digital Theses Program, 2008. http://thesis.anu.edu.au/public/adt-ANU20081211.011120/index.html.
Повний текст джерела
26
Chen, Mingyu. "Universal motion-based control and motion recognition." Diss., Georgia Institute of Technology, 2013. http://hdl.handle.net/1853/50281.
Повний текст джерелаАнотація:
In this dissertation, we propose a universal motion-based control framework that supports general functionalities on 2D and 3D user interfaces with a single integrated design. We develop a hybrid framework of optical and inertial sensing technologies to track 6-DOF (degrees of freedom) motion of a handheld device, which includes the explicit 6-DOF (position and orientation in the global coordinates) and the implicit 6-DOF (acceleration and angular speed in the device-wise coordinates). Motion recognition is another key function of the universal motion-based control and contains two parts: motion gesture recognition and air-handwriting recognition. The interaction technique of each task is carefully designed to follow a consistent mental model and ensure the usability. The universal motion-based control achieves seamless integration of 2D and 3D interactions, motion gestures, and air-handwriting.
Motion recognition by itself is a challenging problem. For motion gesture recognition, we propose a normalization procedure to effectively address the large in-class motion variations among users. The main contribution is the investigation of the relative effectiveness of various feature dimensions (of tracking signals) for motion gesture recognition in both user-dependent and user-independent cases. For air-handwriting recognition, we first develop a strategy to model air-handwriting with basic elements of characters and ligatures. Then, we build word-based and letter-based decoding word networks for air-handwriting recognition. Moreover, we investigate the detection and recognition of air-fingerwriting as an extension to air-handwriting. To complete the evaluation of air-handwriting, we conduct usability study to support that air-handwriting is suitable for text input on a motion-based user interface.
27
Lee, Hua, and Vincent Radzicki. "HIGH-PRECISION MOTION ESTIMATION SYSTEMS FOR UUV NAVIGATION." International Foundation for Telemetering, 2017. http://hdl.handle.net/10150/626944.
Повний текст джерелаАнотація:
This paper is the summary of a sequence of research tasks in the area of 3D bearing-angle estimation for UUV homing and docking exercises. The main focus is to simplify the concept as well as computation efficiency of the homing and docking tasks, by elevating the estimation modality from the conventional twin-receiver configuration to the 2D circular arrays. The objective is to utilize the multi-element receiver array for the entire navigation procedure, including bearing-angle estimation, optimal path planning, and high-precision docking.
28
Allen, Bonnie Danette Welch Gregory Francis. "Hardware design optimization for human motion tracking systems." Chapel Hill, N.C. : University of North Carolina at Chapel Hill, 2007. http://dc.lib.unc.edu/u?/etd,1477.
Повний текст джерелаАнотація:
Thesis (Ph. D.)--University of North Carolina at Chapel Hill, 2007.Title from electronic title page (viewed Apr. 25, 2008). "... in partial fulfillment of the requirements for the degree of Doctor of Philosophy in the Department of Computer Science." Discipline: Computer Science; Department/School: Computer Science.
29
Lee, Teahyung. "Algorithm-Based Efficient Approaches for Motion Estimation Systems." Diss., Atlanta, Ga. : Georgia Institute of Technology, 2007. http://hdl.handle.net/1853/19783.
Повний текст джерелаАнотація:
Thesis (Ph.D)--Electrical and Computer Engineering, Georgia Institute of Technology, 2008.Committee Chair: Anderson, David; Committee Member: Gray, Alexander; Committee Member: Ma, Xiaoli; Committee Member: Mersereau , Russell; Committee Member: Wills, Donald.
30
Burget, Felix [Verfasser], and Wolfram [Akademischer Betreuer] Burgard. "Motion imitation and generation for mobile robotic systems." Freiburg : Universität, 2018. http://d-nb.info/1163200867/34.
Повний текст джерела
31
Morley, Emma Claire. "Motion control and teach pendants for robotic systems." Thesis, University of Nottingham, 1994. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.240503.
Повний текст джерела
32
Jeon, Jeong hwan Ph D. Massachusetts Institute of Technology. "Sampling-based motion planning algorithms for dynamical systems." Thesis, Massachusetts Institute of Technology, 2015. http://hdl.handle.net/1721.1/101443.
Повний текст джерелаАнотація:
Thesis: Ph. D., Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, 2015.This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Cataloged from student-submitted PDF version of thesis.
Includes bibliographical references (pages 133-143).
Dynamical systems bring further challenges to the problem of motion planning, by additionally complicating the computation of collision-free paths with collision-free dynamic motions. This dissertation proposes efficient approaches for the optimal sampling-based motion planning algorithms, with a strong emphasis on the accommodation of realistic dynamical systems as the subject of motion planning. The main contribution of the dissertation is twofold: advances in general framework for asymptotically-optimal sampling-based algorithms, and the development of fast algorithmic components for certain classes of dynamical systems. The first part of the dissertation begins with key ideas from a number of recent sampling-based algorithms toward fast convergence rates. We reinterpret the ideas in the context of incremental algorithms, and integrate the key ingredients within the strict [omicron](log n) complexity per iteration, which we refer to as the enhanced RRT* algorithm. Subsequently, Goal-Rooted Feedback Motion Trees (GR-FMTs) are presented as an adaptation of sampling-based algorithms into the context of asymptotically-optimal feedback motion planning or replanning. Last but not least, we propose a loop of collective operations, or an efficient loop with cost-informed operations, which minimizes the exposure to the main challenges incurred by dynamical systems, i.e., steering problems or Two-Point Boundary Value Problems (TPBVPs). The second main part of the dissertation directly deals with the steering problems for three categories of dynamical systems. First, we propose a numerical TPBVP method for a general class of dynamical systems, including time-optimal off-road vehicle maneuvers as the main example. Second, we propose a semi-analytic TPBVP approach for differentially flat systems or partially flat systems, by which the computation of vehicle maneuvers is expedited and the capability to handle extreme scenarios is greatly enhanced. Third, we propose an efficient TPBVP algorithm for controllable linear systems, based on the computation of small-sized linear or quadratic programming problems in a progressive and incremental manner. Overall, the main contribution in this dissertation realizes the outcome of anytime algorithms for optimal motion planning problems. An initial solution is obtained within a small time, and the solution is further improved toward the optimal one. To our best knowledge from both simulation results and algorithm analyses, the proposed algorithms supposedly outperform or run at least as fast as other state-of-the-art sampling-based algorithms.
by Jeong hwan Jeon.
Ph. D.
33
Lu, Yi, Qinlong Ren, Tingting Liu, Siu Ling Leung, Vincent Gau, Joseph C. Liao, Cho Lik Chan, and Pak Kin Wong. "Long-range electrothermal fluid motion in microfluidic systems." PERGAMON-ELSEVIER SCIENCE LTD, 2016. http://hdl.handle.net/10150/621709.
Повний текст джерелаАнотація:
AC electrothermal flow (ACEF) is the fluid motion created as a result of Joule heating induced temperature gradients. ACEF is capable of performing major microfluidic operations, such as pumping, mixing, concentration, separation and assay enhancement, and is effective in biological samples with a wide range of electrical conductivity. Here, we report long-range fluid motion induced by ACEF, which creates centimeter-scale vortices. The long-range fluid motion displays a strong voltage dependence and is suppressed in microchannels with a characteristic length below similar to 300 mu m. An extended computational model of ACEF, which considers the effects of the density gradient and temperature-dependent parameters, is developed and compared experimentally by particle image velocimetry. The model captures the essence of ACEF in a wide range of channel dimensions and operating conditions. The combined experimental and computational study reveals the essential roles of buoyancy, temperature rise, and associated changes in material properties in the formation of the long-range fluid motion. Our results provide critical information for the design and modeling of ACEF based microfluidic systems toward various bioanalytical applications. (C) 2016 Elsevier Ltd. All rights reserved.
34
Notini, Luca. "Condition monitoring of belt based motion transmission systems." Thesis, Loughborough University, 2005. https://dspace.lboro.ac.uk/2134/20371.
Повний текст джерелаАнотація:
A key asset of Royal Mail Group consists of a nationwide network of sorting offices that forms a constituent component of the means through which the organisation provides an efficient nationwide postal service within the United Kingdom. It may be argued that the efficiency currently possessed by modem sorting offices is due to the utilisation of machines that automate the process of sorting items of mail. The modem letter-sorting machine possessed by Royal Mail can sort up to 30,000 letters per hour; such machines serve as an example of an achievement of the application of Mechatronics. The maintenance of letter sorting machines constitutes a large overhead for the organisation. In the face of competition from pervasive electronic media within the personal communications market and the prospect of deregulation, Royal Mail seeks to streamline its operation in part by the reduction of the overheads incurred through maintenance of letter sorting machinery. The adoption of condition based maintenance techniques and predictive maintenance, for letter sorting machine components such as belts and bearings, forms part of the strategy through which Royal Mail seeks to reduce this overhead. Utilisation of flat belts and timing belts for the implementation of key functions in letter sorting machinery, such as the transportation of items of mail within the mail sorting process, results in the use of many such components within letter sorting machinery. A direct link exists between the maintenance of peak performance of a sorting machine and the maintenance of belt drives; as such the maintenance of belt drives forms a substantial component of the maintenance overhead. The focus of this thesis consists of the condition monitoring of belt based motion transmission systems and in particular, flat belts. The research that forms the basis of this thesis consists of three elements. Firstly, consideration of current knowledge of belt based power transmission such as knowledge of the mechanics of the belt based power transmission process within the context of condition monitoring.
35
Bosco, Marco. "Safety systems for small satellites uncontrolled tumbling motion." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2012. http://amslaurea.unibo.it/4648/.
Повний текст джерела
36
O'Connor, Dennis. "On Motion Mechanisms of Freight Train Suspension Systems." OpenSIUC, 2014. https://opensiuc.lib.siu.edu/dissertations/895.
Повний текст джерелаАнотація:
In this dissertation, a freight train suspension system is presented for all possible types of motion. The suspension system experiences impacts and friction between wedges and bolster. The impacts cause the chatter motions between wedges and bolster, and the friction will cause the stick and non-stick motions between wedges and bolster. Due to the wedge effect, the suspension system may become stuck and not move, which cause the suspension lose functions. To discuss such phenomena in the freight train suspension systems, the theory of discontinuous dynamical systems is used, and the motion mechanism of impacting chatter with stick and stuck is discussed. The analytical conditions for the onset and vanishing of stick motions between the wedges and bolster are presented, and the condition for maintaining stick motion was achieved as well. The analytical conditions for stuck motion are developed to determine the onset and vanishing conditions for stuck motion. Analytical prediction of periodic motions relative to impacting chatter with stick and stuck motions in train suspension is performed through the mapping dynamics. The corresponding analyses of local stability and bifurcation are carried out, and the grazing and stick conditions are used to determine periodic motions. Numerical simulations are to illustrate periodic motions of stick and stuck motions. Finally, from field testing data, the effects of wedge angle on the motions of the suspension is presented to find a more desirable suspension response for design.
37
Wexler, Carlos. "Vortex dynamics in superfluid systems /." Thesis, Connect to this title online; UW restricted, 1997. http://hdl.handle.net/1773/9646.
Повний текст джерела
38
Dawson, Jeremy M. "Through-wafer interrogation of MEMS device motion." Morgantown, W. Va. : [West Virginia University Libraries], 1999. http://etd.wvu.edu/templates/showETD.cfm?recnum=856.
Повний текст джерелаАнотація:
Thesis (M.S.)--West Virginia University, 1999.Title from document title page. Document formatted into pages; contains xii, 122 p. : ill. (some col.) Includes abstract. Includes bibliographical references (p. 119-122).
39
Van, der Elst Herman. "Coding of virtual human motion." Thesis, University of Pretoria, 1999. http://hdl.handle.net/2263/27728.
Повний текст джерелаАнотація:
Please read the abstract in the section 00front of this documentThesis (PhD (Electronic Engineering))--University of Pretoria, 2007.
Electrical, Electronic and Computer Engineering
unrestricted
40
Pratt, Alan Edward. "Quantization of nonholonomic systems." Thesis, University of Bristol, 1996. http://hdl.handle.net/1983/71bd9b91-d990-443d-958f-691cf5763495.
Повний текст джерела
41
Li, Li Wang Fei-Yue. "Advanced motion control and sensing for intelligent vehicles." New York : Springer, 2007. http://www.myilibrary.com?id=113830.
Повний текст джерела
42
Horton, Bryan. "Rotational motion of pendula systems for wave energy extraction." Thesis, Available from the University of Aberdeen Library and Historic Collections Digital Resources, 2009. http://digitool.abdn.ac.uk:80/webclient/DeliveryManager?application=DIGITOOL-3&owner=resourcediscovery&custom_att_2=simple_viewer&pid=25873.
Повний текст джерела
43
Kavanagh, Eamon. "Interface motion in the Ostwald ripening and chemotaxis systems." Thesis, University of British Columbia, 2014. http://hdl.handle.net/2429/50035.
Повний текст джерелаАнотація:
Ostwald ripening and chemotaxis are two different mechanisms that describe particle motion throughout a domain. Ostwald ripening describes the redistribution of a solid solution due to energy potentials while chemotaxis is a cellular phenomenon where organisms move based on the presence of chemical gradients in their environment. Despite the two systems coming from disparate fields, they are connected by the late-stage dynamics of interfacial motion.
For the Ostwald ripening system we consider the case of N droplets in the asymptotic limit of small radii [formula omitted]. We first derive a system of ODEs that describe the motion of the droplets and then improve this calculation by including higher order terms. Certain properties, such as area preservation and finite time extinction of certain droplets are proved and a numerical example is presented to support the claims.
In the chemotaxis model we look at the asymptotic limit of diffusive forces being small compared to that of chemotactic gradients. We use a boundary-fitted coordinate system to derive an equation for the velocity of an arbitrary interface and analyze a few specific examples. The asymptotic results are also explored and confirmed using the finite element and level set methods.
Our analysis reveals the mechanism of movement to be motion by curvature in Ostwald ripening and a surface diffusion law in chemotaxis. The governing rules of motion may be different in the two systems but the end result is typically characteristically similar- exchange of mass and smoothing in favor of a larger and more stable configuration of drops.Science, Faculty of
Mathematics, Department of
Graduate
44
Coelingh, Hendrik Jan. "Design support for motion control systems a mechatronic approach /." Enschede : University of Twente [Host], 2000. http://doc.utwente.nl/58112.
Повний текст джерела
45
Smeds, Kristofer S. "High-performance real-time motion control for precision systems." Thesis, University of British Columbia, 2011. http://hdl.handle.net/2429/34020.
Повний текст джерелаАнотація:
Digital motion controllers are used almost exclusively in automated motion control systems today. Their key performance parameters are controller execution speed, timing consistency, and data accuracy. Most commercially available controllers can achieve sampling rates up to 20kHz with several microseconds of timing variation between control cycles. A few state-of-the art control platforms can reach sampling rates of around 100kHz with several hundred nanoseconds of timing variation. There exist a growing number of emerging high-speed high-precision applications, such as diamond turning and scanning probe microscopy, that can benefit from digital controllers capable of faster sampling rates, more consistent timing, and higher data accuracy.
This thesis presents two areas of research intended to increase the capabilities of digital motion controllers to meet the needs of these high-speed high-precision applications.
First, it presents a new high-performance real-time multiprocessor control platform capable of 1MHz control sampling rates with less than 6ns RMS control cycle timing variation and 16-bit data acquisition accuracy. This platform also includes software libraries to integrate it with Simulink for rapid controller development and LabVIEW for easy graphical user interface development. This thesis covers the design of the control platform and experimentally demonstrates it as a motion controller for a fast-tool servo machine tool.
Second, this thesis investigates the effect of control cycle timing variations (sampling jitter and control jitter) on control performance, with an emphasis on precision positioning degradation. A new approximate discrete model is developed to capture the effects of jitter, enabling an intuitive understanding of it's effects on the control system. Based on this model, analyses are carried out to determine the relationship between jitter and positioning error for two scenarios: regulation error from jitter's interaction with measurement noise; and tracking error from jitter's interaction with a deterministic reference command. Further, several practical methods to mitigate the positioning degradation due to jitter are discussed, including a new jitter compensator that can be easily added to an existing controller. Through simulations and experiments performed on a fast-tool servo machine tool, the model and analyses are validated and the positioning degradation arising from jitter is clearly demonstrated.
46
Ahmadi, Ali. "Electrohydrodynamic modeling of microdroplet motion in digital microfluidic systems." Thesis, University of British Columbia, 2011. http://hdl.handle.net/2429/37731.
Повний текст джерелаАнотація:
Digital microfluidic devices provide a new technology platform for controlled motion of small volumes of fluid. These systems can provide high speed microdroplet transport on integrated electrode arrays. The generic nature of these electrode architectures offers versatility, scalability, and reconfigurability that is crucial for biomedical, chemical, and sensing applications.
The structural layout of digital microfluidic devices and the employed electrical activation schemes must be considered together in the design and operation of successful fluid actuation. Microfluidic models provide an effective tool for predicting this device performance and optimizing parameters to achieve high efficiency. Numerical simulation of the electrodynamics of microdroplet motion in digital microfluidic systems will provide better understanding of the effects of electrode shape on actuation forces, actuation voltage/frequency and liquid properties (e.g., conductivity, permittivity, and surface tension) on microdroplet actuation. However, the development of such models is far from trivial as many complex physicochemical phenomena become involved in the transport.
In this thesis, a novel numerical multiphysic approach is used to model the microdroplet motion in digital microfluidic systems. The actuation force in the system of the interest is provided by applying voltage to the underlying electrodes. The main focus of this study is on the conductive liquids, however the electromechanical approach used in this research can be readily extended to dielectric liquids. The proposed model employs an electrohydrodynamic approach for estimating the driving, wall and filler forces. Additionally, the effects of the evaporation are considered from two aspects: it is shown that an additional force is needed to balance the dynamic equation of the microdroplet motion, and the microdroplet interface is deformed due to the change in the microdroplet radius. Finally, the effects of the biomolecular adsorption are included by adding a new force to the dynamic equation of the microdroplet motion, and the adsorption rate is then related to the change in the interfacial tensions and the capacitance of the underlying layers. The results of the developed model are presented and verified with experimental data obtained from literature, and it is shown that the model provides an accurate representation of microdroplet transport in digital microfluidic systems.
47
Ang, Eu-Jin. "Brownian motion queueing models of communications and manufacturing systems." Thesis, Imperial College London, 1998. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.298242.
Повний текст джерела
48
Chen, Changmin. "Motion control and synchronisation of multi-axis drive systems." Thesis, Loughborough University, 1994. https://dspace.lboro.ac.uk/2134/7360.
Повний текст джерела
49
Neilson, Richard David. "Dynamics of simple rotor systems having motion dependent discontinuities." Thesis, University of Dundee, 1986. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.362927.
Повний текст джерела
50
Rogers, Graham George. "Modular production systems : a motion control scheme for actuators." Thesis, Loughborough University, 1990. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.258362.
Повний текст джерела