Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 3 of 3
Full-Text Articles in Engineering
Model-Based Adaptive Control Of Piezoelectric Actuation Systems, Hwee Choo Liaw, Denny Oetomo, Bijan Shirinzadeh, Gursel Alici
Model-Based Adaptive Control Of Piezoelectric Actuation Systems, Hwee Choo Liaw, Denny Oetomo, Bijan Shirinzadeh, Gursel Alici
Faculty of Engineering - Papers (Archive)
This paper proposes a model-based adaptive control methodology for piezoelectric actuation systems to follow specified motion trajectories. This is motivated by a search for an effective control strategy to deal with the problem of parametric uncertainties such as disturbance and hysteresis effects. The proposed adaptive law is formulated by combining a parameter compensator and a conventional PD feedback control for a system to drive its position tracking error converging to zero. The fundamental concept lies in the properties of a quasinatural potential function, which allows a saturated position error function in the control formulation. Implementation of the control law requires …
Rapid Adaptive Programming Using Image Data (Rapid), Alexander D. Nicholson, John Norrish, Paul Di Pietro
Rapid Adaptive Programming Using Image Data (Rapid), Alexander D. Nicholson, John Norrish, Paul Di Pietro
Faculty of Engineering - Papers (Archive)
In many welding applications, programming time has been the biggest obstacle for the widespread acceptance of robots, impeding the advancement of this technology and limiting it to medium or large batch applications. In particular, for repair of worn components where the damage is irregular, reprogramming by skilled personnel is required at added cost and time. This paper outlines a novel offline programming technique which allows robot programming to be automated and completed in a few seconds. This technique is applicable to a wide range of industrial wear applications.
Adaptive Battle Agents: Emergence In Artificial Life Combat Models, Thomas J. A. Baker, Matthew Botting, Matthew J. Berryman, Alex Ryan, Anne-Marie Grisogono, Derek Abbott
Adaptive Battle Agents: Emergence In Artificial Life Combat Models, Thomas J. A. Baker, Matthew Botting, Matthew J. Berryman, Alex Ryan, Anne-Marie Grisogono, Derek Abbott
Faculty of Engineering - Papers (Archive)
We explore emergent behavior in an agent-based model of a complex system. The particular complex system we consider is a battlefield simulation. These agents are modeled in the RePast agent-based modeling environment. We will explore how agents of various capabilities and differing task sets affect the outcome of a battle. The capabilities of these agents include, but are not limited to, the ability to maneuver on the battlefield, receive and understand messages, formulate and send messages and attack enemy agents.