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Adaptive Control Of Flexible Joint Robots Derived From Arm Energy Considerations, Shaheen Ahmad, Fouad Mrad

Department of Electrical and Computer Engineering Technical Reports

Almost all industrial robots exhibit joint flexibility due to mechanical compliance of their gear boxes. In this paper we outline a design of an adaptive controller for flexible joint robots based on the arms energy. The desired actuator trajectory in a flexible joint robot is dependent not only on the desired kinematic trajectory of the link but also on the link dynamics. Unfortunately, link dynamic parameters are unknown in most cases, as a result the desired actuator trajectory is also unknown. To overcome this difficulty, a number of control schemes have suggested the use of acceleration and link jerk feedback. …

Reproduction In Sheep, R. E. Hudgens

Historical Documents of the Purdue Cooperative Extension Service Archive

No abstract provided.

Time Scaling Of Cooperative Multi-Robot Trajectories, Seungbin B. Moon, Shaheen Ahmad

Department of Electrical and Computer Engineering Technical Reports

In this paper we develop an algorithm to modify the trajectories of multiple robots in cooperative manipulation. If a given trajectory results in joint torques which exceed the admissible torque range for one or more joints, the algorithm slows down or speeds up the trajectory so as to maintain all the torques within the admissible boundary. Our trajectory modification algorithm uses the concept of time scaling developed by Hollerbach[10] for single robots. A multiple robot system in cooperative manipulation has significantly different dynamics compared to single robot dynamics. As a result, time scaling algorithm for single robots is not usable …

Some Design Calculations For A 60kw, 6000 Rpm, 4/6 Srm, C. M. Ong, Mehdi Moallem

Department of Electrical and Computer Engineering Technical Reports

This report contains results from a finite element study of the SR machine whose dimensions were provided by Mr Lewis Unnewehr of Sullair Corporation. The objective of the study is to determine the static and steady-state operational characteristics of a given machine design to see if it meets certain design specifications. The study made use of a two-dimension, finite element program that has been developed and described in [1-3]. The same set of references also contained information on the simulation methods and types of control used in this study. Part I of this report presents the basic input data used …

Adaptive Networks As A Model For Human Speech Development-Cluster Plots, M. F. Tenorio, M. D. Tom, R. G. Schwartz

Department of Electrical and Computer Engineering Technical Reports

This Technical Report contains all the cluster plots generated for the cluster analyses described in §9.7 of [1]. The Lance and William General Algorithm with complete linkages for hierarchical clustering analysis [2] is used. A brief description of the algorithm may be found in §9.7.1 of [1]. In the cluster plots the symbol -> designates a letter-to-phoneme mapping. For example, c->k means the letter in the center of the window is "c" and is being mapped by the network into the phoneme /k/. Definitions of the phoneme symbols may be found on pp. 22-23 of [I]. A horizontal line …

Pulse Width Modulated Control Of Robotic Manipulators, Hebertt Sira-Ramirez, Mohammed Zribi, Shaheen Ahmad

Department of Electrical and Computer Engineering Technical Reports

In this paper we propose a practical discontinuous feedback control scheme for the regulation of joint positions of robotic manipulators. A robust on-off switching control strategy based on a pulse-width-modulation (PWM) feedback scheme is proposed for the joint torques. The discontinuous PWM controller design is carried out on the basis of a suitable controller designed for an average model which is of continuous nature. Simulations of the closed loop performance of the proposed control scheme are presented for a two-link robotic manipulator

//Ellpack: A Numerical Simulation Programming Environment For Parallel Mimd Machines, Elias N. Houstis, John R. Rice, N. P. Chrisochoides, H. C. Karathanasis, P. N. Papochiou, E. A. Vavalis, Ko Yang Wang

Department of Computer Science Technical Reports

No abstract provided.

Towards Automatic Grid Generation Using Binary Space Partition Trees, George Vanecek

Department of Computer Science Technical Reports

No abstract provided.

G1 Interpolation Using Piecewise Quadric And Cubic Surfaces, Chanderjit L. Bajaj

Department of Computer Science Technical Reports

No abstract provided.

A Functional Language With Classes, Mike Veaven, Ryan Stanisfer, Dan Wetklow

Department of Computer Science Technical Reports

No abstract provided.

Queueing Models Of Secondary Storage Devices, Edward G. Coffman

Department of Computer Science Technical Reports

No abstract provided.

Geometric Computations With Algebraic Varieties Of Bounded Degree, Chanderjit L. Bajaj

Department of Computer Science Technical Reports

No abstract provided.

Algebraic Surface Design With Hermite Interpolation, Chandrajit L. Bajaj, Insung Ihm

Department of Computer Science Technical Reports

No abstract provided.

Evaluation Of The Cost-Effectiveness Of Pavement Surface Maintenance Activities, Ibrahim Moussa Mouaket, Abdullah Al-Mansour, Kumares C. Sinha

JTRP Technical Reports

This study covers pavement surface maintenance on three surface types: rigid, flexible and composite (asphalt overlay on rigid pavement). It addresses 3 main issues as follows: 1) Do routine maintenance activities make a difference in terms of pavement serviceability? If yes, how much? 2) Are chip and sand seal coating cost-effective? What is their optimal timing? 3) What management criteria should be used as a guide to make seal coating decisions on specific roadways? In resolving Issue #1, a stratified 2-stage sample of observational data was used in a statistical before/after comparison. SAS-General Linear Model was used due to its …

An Electronic Surveillance And Control System For Traffic Management On The Borman Expressway, Part I : Executive Summary, Michael J. Cassidy, Kumares C. Sinha

JTRP Technical Reports

No abstract provided.

Engineering Soils Map Of Blackford County, Indiana, Andrew Garrigus

JTRP Technical Reports

This report entitled "Engineering Soils Map of Blackford County, Indiana," completes a portion of the long-term project concerned with the development of county engineering soils maps of the 92 counties in the state of Indiana. This is the 86th report of the series. The report was prepared by Andrew Garrigus, Research Assistant, Joint Highway Research Project, under my direction. The soils mapping of Blackford County was done primarily by the analysis of landforms and associated parent materials as portrayed on stereoscopic aerial photographs. Extensive additional information on the soils was obtained from the soil survey and publications of the Soil …

The Physical Durability And Electrical Resistivity Of Indiana Bottom Ash, Te-Chih Ke

JTRP Technical Reports

This research assessed the long-term performance (durability) and the environmental effect (corrosiveness to adjacent metal structures) of Indiana bottom ashes, based mainly on laboratory investigation. The 5-cycle sodium sulfate soundness tests and the 50-cycle freeze-thaw tests were conducted to examine the physical durability. Four electrochemical characteristics (electrical resistivity, pH, soluble chloride, and soluble sulfate) were used to estimate the corrosion potential of Indiana bottom ashes.

Evaluation criteria for durability and corrosiveness of bottom ash, based on appropriate specifications for aggregates and past experiences for soils, were developed. The comparison of test results and the above criteria shows that Indiana bottom …

The Development Of A Procedure To Forecast Traffic Volumes On Urban Segments Of The State And Interstate Highway Systems, Sunil K. Saha, Jon D. Fricker

JTRP Technical Reports

This study developed a multi-facted procedure to forecast traffic volumes on urban segments of the state and interstate highway systems for the Indiana Department of Transportation. A detailed statistical analysis was conducted to develop alternative models to forecast traffic. The models and the procedures described in this study's Final Report are intended to provide highway planners with a tool for simple, fast and inexpensive estimation of traffic projections. Emphasis was also placed on achieving reliable input information for the forecasts of any background factors (independent variables) used in the models. This study improves on previous efforts to build simple and …

Traffic Speed Report No. 123, David L. Cochran, Donald W. Genda

JTRP Technical Reports

No abstract provided.

The Use Of Bottom Ash In Highway Embankments, Subgrades, And Subbases, Wei-Hsing Huang

JTRP Technical Reports

This research assessed those properties of power plant bottom ash likely to affect its use as highway fill or pavement material, based on laboratory investigation conducted on eleven Indiana bottom ashes. Laboratory tests included: chemical analysis, mineralogical study, microscopic examination of ash particles, specific gravity, grain size distribution, sulfate soundness, Los Angeles abrasion, permeability, shear strength, moisture-density relations, degradation under compaction, compressibility, and California bearing ratio.

The various test values and properties were compared to- those of representative granular soils or appropriate specifications. These comparisons provide information necessary for judging the suitability of bottom ash in Indiana highway construction.

The …

The Use Of Bottom Ash In Highway Embankments, Subgrades, And Subbases : Executive Summary, Wei-Hsing Huang

JTRP Technical Reports

This research assessed those properties of power plant bottom ash likely to affect its use as highway fill or pavement material, based on laboratory investigation conducted on eleven Indiana bottom ashes. Laboratory tests included: chemical analysis, mineralogical study, microscopic examination of ash particles, specific gravity, grain size distribution, sulfate soundness, Los Angeles abrasion, permeability, shear strength, moisture-density relations, degradation under compaction, compressibility, and California bearing ratio.

The various test values and properties were compared to- those of representative granular soils or appropriate specifications. These comparisons provide information necessary for judging the suitability of bottom ash in Indiana highway construction.

The …

The Physical Durability And Electrical Resistivity Of Indiana Bottom Ash : Executive Summary, Te-Chih Ke

JTRP Technical Reports

This research assessed the long-term performance (durability) and the environmental effect (corrosiveness to adjacent metal structures) of Indiana bottom ashes, based mainly on laboratory investigation. The 5-cycle sodium sulfate soundness tests and the 50-cycle freeze-thaw tests were conducted to examine the physical durability. Four electrochemical characteristics (electrical resistivity, pH, soluble chloride, and soluble sulfate) were used to estimate the corrosion potential of Indiana bottom ashes.

Evaluation criteria for durability and corrosiveness of bottom ash, based on appropriate specifications for aggregates and past experiences for soils, were developed. The comparison of test results and the above criteria shows that Indiana bottom …

The Use Of Bottom Ash In Highway Embankments, Subgrades, And Subbases, Wei-Hsing Huang

JTRP Technical Reports

This research assessed those properties of power plant bottom ash likely to affect its use as highway fill or pavement material, based on laboratory investigation conducted on eleven Indiana bottom ashes. Laboratory tests included: chemical analysis, mineralogical study, microscopic examination of ash particles, specific gravity, grain size distribution, sulfate soundness, Los Angeles abrasion, permeability, shear strength, moisture-density relations, degradation under compaction, compressibility, and California bearing ratio.

The various test values and properties were compared to- those of representative granular soils or appropriate specifications. These comparisons provide information necessary for judging the suitability of bottom ash in Indiana highway construction.

The …

An Electronic Surveillance And Control System For Traffic Management On The Borman Expressway, Part I, Michael J. Cassidy, Kumares C. Sinha

JTRP Technical Reports

No abstract provided.

The Physical Durability And Electrical Resistivity Of Indiana Bottom Ash, Te-Chih Ke

JTRP Technical Reports

This research assessed the long-term performance (durability) and the environmental effect (corrosiveness to adjacent metal structures) of Indiana bottom ashes, based mainly on laboratory investigation. The 5-cycle sodium sulfate soundness tests and the 50-cycle freeze-thaw tests were conducted to examine the physical durability. Four electrochemical characteristics (electrical resistivity, pH, soluble chloride, and soluble sulfate) were used to estimate the corrosion potential of Indiana bottom ashes.

Evaluation criteria for durability and corrosiveness of bottom ash, based on appropriate specifications for aggregates and past experiences for soils, were developed. The comparison of test results and the above criteria shows that Indiana bottom …

Performance Analysis Of Domestic Heat Pump Units Running On Cfc Substitutes, E. C. Berlinck, C. A. T. Uriu, T. B. Herbas, J. A. R. Parise

International Refrigeration and Air Conditioning Conference

No abstract provided.

1990 Indiana Forest Products Price Report And Trend Analysis, William L. Hoover, Ralph W. Gann, Robert W. Mayer

Timber Reports Archive

No abstract provided.

The Uniform Soybean Tests: Northern States 1990, J. R. Wilcox

Uniform Soybean Tests Northern Region

No abstract provided.

Research On Discharge Ports Of Oil-Flooded Rotary Compressors, L. Hongqi, J. Guangxi

International Compressor Engineering Conference

No abstract provided.

Scroll Compressor: Thrust Bearing Design Under Laminar Conditions, S. S. Kulkarni

International Compressor Engineering Conference

No abstract provided.