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RISS 인기검색어
- 검색키워드
- 저자 : Lakmal Seneviratne (검색결과 3 건)
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구범우,Su Y. Choi,최영수,Guowei Cai,Lakmal Seneviratne,임춘택 한국원자력학회 2016 Nuclear Engineering and Technology Vol.48 No.4
In this paper, new tethered aerial robots including roaming tethered aerial robots (RTARs)for radioactive material sampling and stationary tethered aerial robots (STARs) for environmentmonitoring are proposed to meet extremely-long-endurance missions of nuclearpower plants. The flight of the proposed tethered aerial robots may last for a few days oreven a few months as long as the tethered cable provides continuous power. A high voltageAC or DC power system was newly adopted to reduce the mass of the tethered cable. TheRTAR uses a tethered cable spooled from the aerial robot and an aerial tension controlsystem. The aerial tension control system provides the appropriate tension to the tetheredcable, which is accordingly laid down on the ground as the RTAR roams. The STAR includesa tethered cable spooled from the ground and a ground tension control system, whichenables the STAR to reach high altitudes. Prototypes of the RTAR and STAR were designedand successfully demonstrated in outdoor environments, where the load power, powertype, operating frequency, and flight attitude of the RTAR and STAR were: 180 W, AC100 kHz, and 20 m; and 300 W, AC or DC 100 kHz, and 80 m, respectively.
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Dongming Gan,Jian S Dai,Jorge Dias,Lakmal Seneviratne 대한기계학회 2014 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.28 No.10
This paper investigates various topologies and mobility of a class of metamorphic parallel mechanisms synthesized with reconfigurablerTPS limbs. Based on the reconfigurable Hooke (rT) joint, the rTPS limb has two phases which result in parallel mechanisms havingability of mobility change. While in one phase the limb has no constraint to the platform, in the other it constrains the spherical joint centerto lie on a plane which is used to demonstrate different topologies of the nrTPS metamorphic parallel mechanisms by investigatingvarious relations (parallel or intersecting) among the n constraint planes (n = 2,3,..,6). Geometric constraint equations of the platformrotation matrix and translation vector are set up based on the point-plane constraint, which reveals mobility and redundant geometricconditions of the mechanism topologies. By altering the limbs into the non-constraint phase without constraint plane, new mechanismphases are deduced with mobility change based on each mechanism topology.
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Adaptive Control for Robot Manipulators using Multiple Parameter Models
Shafiqul Islam,Peter X. Liu,Jorge Dias,Lakmal D. Seneviratne 제어·로봇·시스템학회 2016 International Journal of Control, Automation, and Vol.14 No.5
In this paper, we propose multiple parameter models based adaptive switching control system for robotmanipulators. We first uniformly distribute the parameter set into a finite number of smaller compact subsets. Then,distributed candidate controllers are designed for each of these smaller compact subsets. Using Lyapunov inequality,a candidate controller is identified from the finite set of distributed candidate controllers that best estimates theplant at each instant of time. The design reduced the observer-controller gains by reducing modeling errors and uncertaintiesvia identifying an appropriate control/model via choosing largest guaranteed decrease in the value of theLyapunov function energy function. Compared with CE based CAC design, the proposed design requires smallerobserver-controller gains to ensure stability and tracking performance in the presence of large-scale modeling errorsand disturbance uncertainties. In contrast with existing adaptive method, multiple model based distributed hybriddesign can be used to reduce the energy consumption of the industrial robotic manipulator for large scale industrialautomation by reducing actuator input energy. Finally, the proposed hybrid adaptive control design is experimentallytested on a 3-DOF PhantomTM robot manipulator to demonstrate the theoretical development for real-timeapplications.
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