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Full-Text Articles in Social and Behavioral Sciences
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 …
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 …