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Full-Text Articles in Engineering
Performance Analysis Of Numerical Integration Methods In The Trajectory Tracking Application Of Redundant Robot Manipulators, Emre Sariyildiz, Hakan Temeltas
Performance Analysis Of Numerical Integration Methods In The Trajectory Tracking Application Of Redundant Robot Manipulators, Emre Sariyildiz, Hakan Temeltas
Faculty of Engineering and Information Sciences - Papers: Part A
Differential kinematic is one of the most important solution methods in robot kinematics. The main advantage of the differential kinematic method is that it can be easily implemented any kind of mechanisms. Also, an accurate and efficient kinematic based trajectory tracking application can be easily implemented by using this method. In differential kinematic method, we use Jacobian as a mapping operator in the velocity space. Inversion of Jacobian matrix transforms the desired trajectory velocities, which are the linear and angular velocities of the end effector, into the joint velocities. The joint velocities are required to be integrated to obtain the …
A Comparison Study Of The Numerical Integration Methods In The Trajectory Tracking Application Of Redundant Robot Manipulators, Emre Sariyildiz, Hakan Temeltas
A Comparison Study Of The Numerical Integration Methods In The Trajectory Tracking Application Of Redundant Robot Manipulators, Emre Sariyildiz, Hakan Temeltas
Faculty of Engineering and Information Sciences - Papers: Part A
Differential kinematic has a wide range application area in robot kinematics. The main advantage of the differential kinematic is that it can be easily implemented any kind of mechanisms. In differential kinematic method, Jacobian is used as a mapping operator in the velocity space. The joint velocities are required to be integrated to obtain the pose of the robot manipulator. This integration can be evaluated by using numerical integration methods, since the inverse kinematic equations are highly complex and nonlinear. Thus, the performances of the numerical integration methods affect the trajectory tracking application. This paper compares the performances of numerical …
Robust And Intelligent Control Methods To Improve The Performance Of A Unified Power Flow Controller, C Benachaiba, Ahmed M. Haidar, M L. Doumbia
Robust And Intelligent Control Methods To Improve The Performance Of A Unified Power Flow Controller, C Benachaiba, Ahmed M. Haidar, M L. Doumbia
Faculty of Engineering and Information Sciences - Papers: Part A
The important factor disturbing the modern power systems today is load flow control. The Unified Power Flow Controller (UPFC) is an effective way for controlling the power flow and can provide damping capability during transient conditions. The UPFC is controlled conventionally using PI controller. This paper presents two robust controllers to improve the performance of the UPFC. The first is a RST controller based on the principle of pole placement and the second is an intelligent controller based on the principle of fuzzy logic optimized by Genetic Algorithm (GA).
Methods For Generating Complex Networks With Selected Structural Properties For Simulations: A Review And Tutorial For Neuroscientists, Brenton Prettejohn, Matthew Berryman, Mark Mcdonnell
Methods For Generating Complex Networks With Selected Structural Properties For Simulations: A Review And Tutorial For Neuroscientists, Brenton Prettejohn, Matthew Berryman, Mark Mcdonnell
Faculty of Engineering and Information Sciences - Papers: Part A
Many simulations of networks in computational neuroscience assume completely homogenous random networks of the Erdös–Rényi type, or regular networks, despite it being recognized for some time that anatomical brain networks are more complex in their connectivity and can, for example, exhibit the “scale-free” and “small-world” properties. We review the most well known algorithms for constructing networks with given non-homogeneous statistical properties and provide simple pseudo-code for reproducing such networks in software simulations. We also review some useful mathematical results and approximations associated with the statistics that describe these network models, including degree distribution, average path length, and clustering coefficient. We …
Development And Validation Of Calibration Methods For Discrete Element Modelling, Andrew Grima, Peter W. Wypych
Development And Validation Of Calibration Methods For Discrete Element Modelling, Andrew Grima, Peter W. Wypych
Faculty of Engineering - Papers (Archive)
Discrete element method (DEM) is proving to be a reliable and increasingly used tool to study and predict the behaviour of granular materials. Numerous particlescale mechanisms influence the bulk behaviour and flow of bulk materials. It is important that the relevant measurable input parameters for discrete element models bemeasured by laboratory equipment or determined by physical calibration experiments for rational results. This paper describes some of the bench-scale experiments that have been developed to calibrate the DEM simulations to reflect actual dynamic behaviour. Relevant parameters such as static and rolling coefficients of friction, coefficient of restitution and interparticle cohesion forces …
Improvement Of Rock Bolt Profiles Using Analytical And Numerical Methods, Chen Cao, Jan Anton Nemcik, Najdat I. Aziz
Improvement Of Rock Bolt Profiles Using Analytical And Numerical Methods, Chen Cao, Jan Anton Nemcik, Najdat I. Aziz
Faculty of Engineering - Papers (Archive)
The anchorage capacity of fully grouted bolts has been studied for many years, however the bolt rib profile and its effect on bolt shear resistance is poorly understood. A new development in calculating load transfer capacity between two rib profiles of varying geometries is discussed. The derived mathematical equations presented calculate the stress distribution adjacent to the fully grouted bolt and bolt pull out force needed to fail the resin. The Fast Lagrangian Analysis Continua (FLAC) program was used to verify the calculations of stress within the resin. The novel idea of coupling the bolt geometry with the calculated stress …
Review Of Gas Emission Prediction And Control Methods For Multi-Seam Mining In Chinese Coal Mines, Zhongwei Wang, Ting Ren, Lei Zhang
Review Of Gas Emission Prediction And Control Methods For Multi-Seam Mining In Chinese Coal Mines, Zhongwei Wang, Ting Ren, Lei Zhang
Faculty of Engineering - Papers (Archive)
In China, the practice of multi-seam mining with high gas emission rates is common, and many coal mines are suffering from major gas management issues. To deal with these problems, empirical formulas for gas emission prediction and gas control methods suitable for site-specific conditions are developed. Specifically, the statistical method and split–source-method are widely used for gas emission prediction. In addition to ventilation, various gas control methods, including cross-measure boreholes, directional long-holes, dedicated roadways and surface goaf wells are used for gas drainage. Techniques for integrated extraction of coal and coal seam gas have been developed in these coal mines, …
A Comparative Study Of Three Inverse Kinematic Methods Of Serial Industrial Robot Manipulators In The Screw Theory Framework, Emre Sariyildiz, Eray Cakiray, Hakan Temeltas
A Comparative Study Of Three Inverse Kinematic Methods Of Serial Industrial Robot Manipulators In The Screw Theory Framework, Emre Sariyildiz, Eray Cakiray, Hakan Temeltas
Faculty of Engineering and Information Sciences - Papers: Part B
In this paper, we compare three inverse kinematic formulation methods for the serial industrial robot manipulators. All formulation methods are based on screw theory. Screw theory is an effective way to establish a global description of rigid body and avoids singularities due to the use of the local coordinates. In these three formulation methods, the first one is based on quaternion algebra, the second one is based on dual-quaternions, and the last one that is called exponential mapping method is based on matrix algebra. Compared with the matrix algebra, quaternion algebra based solutions are more computationally efficient and they need …