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Trajectory Tracking Control for Wheeled Mobile Robots with Kinematic Parameter Uncertainty
Jianjun Bai,Jian Du,Tianlong Li,Yun Chen 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.5
The trajectory tracking control for a class of wheeled mobile robots (WMRs) with kinematic parameter uncertainty is studied in this paper. Firstly, a new Lyapunov function is proposed, based on which, a new kinematic controller for WMRs without parameter uncertainty is designed to make the tracking error system asymptotically stable. Secondly, the parameter uncertainty of the kinematic model is taken into consideration and an modified adaptive law is designed to deal with the uncertainty. Then, in order to improve the tracking performance, a selftuning algorithm of the parameters of the controllers is proposed based on neural networks. Finally, numerical examples are given to illustrate the effectiveness of the proposed method.
Robust Fixture Layout Design for a Product Family Assembled in a Multistage Reconfigurable Line
Izquierdo, L. Eduardo,Hu, S. Jack,Du, Hao,Jin, Ran,Jee, Haeseong,Shi, Jianjun ASME International 2009 Journal of Manufacturing Science and Engineering Vol.131 No.4
<P>Reconfigurable assembly systems enable a family of products to be assembled in a single system by adjusting and reconfiguring fixtures according to each product. The sharing of fixtures among different products impacts their robustness to fixture variation due to trade offs in fixture design (to allow the accommodation of the family in the single system) and to frequent reconfigurations. This paper proposes a methodology to achieve robustness of the fixture layout design through an optimal distribution of the locators in a multistation assembly system for a product family. This objective is accomplished by (1) the use of a multistation assembly process model for the product family, and (2) minimizing the combined sensitivity of the products to fixture variation. The optimization considers the feasibility of the locator layout by taking into account the constraints imposed by the different products and the processes (assembly sequence, data scheme, and reconfigurable tools’ workspace). A case study where three products are assembled in four stations is presented. The sensitivity of the optimal layout was benchmarked against the ones obtained using dedicated assembly lines for each product. This comparison demonstrates that the proposed approach does not significantly sacrifice robustness while allowing the assembly of all products in a single reconfigurable line.</P>
Microfluidic Detection of Multiple Heavy Metal Ions Using Fluorescent Chemosensors
Kou, Songzi,Nam, Seong-Won,Shumi, Wahhida,Lee, Min-Hee,Bae, Se-Won,Du, Jianjun,Kim, Jong-Seung,Hong, Jong-In,Peng, Xiaojun,Yoon, Ju-Young,Park, Sung-Su Korean Chemical Society 2009 Bulletin of the Korean Chemical Society Vol.30 No.5