Download or read book G n ration de trajectoire par des m thodes d optimisation d nergie d un robot bip de muni d actionneurs pneumatiques written by Vinh Bao.. Nguyen and published by . This book was released on 1997 with total page 72 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book M thodes math matiques de g n ration de trajectoire de robots written by Khelifi, K. (Karim) and published by Québec : Dép. d'informatique, Université Laval. This book was released on 1987 with total page 94 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book GENERATION EN LIGNE DE TRAJECTOIRES OPTIMALES DE ROBOTS MANIPULATEURS BASEE SUR DES METHODES D INTERPOLATION A PROFIL D ACCELERATION IMPOSE written by KHAWAJA SHAFAAT AHMED.. BAZAZ and published by . This book was released on 1998 with total page 123 pages. Available in PDF, EPUB and Kindle. Book excerpt: LA GENERATION DE TRAJECTOIRES DES ROBOTS-MANIPULATEURS EST UNE FONCTION CENTRALE D'UN CONTROLEUR DE ROBOT QUI DOIT REALISER UN CALCUL EN-LIGNE DES TRAJECTOIRES PROGRAMMEES AFIN D'ETRE ADAPTE AU CARACTERE TEMPS-REEL PROPRE A LA ROBOTIQUE. NOUS ABORDONS CE PROBLEME DANS UN CONTEXTE PUREMENT CINEMATIQUE EN CHERCHANT A DEVELOPPER DES METHODES D'INTERPOLATION D'UN ENSEMBLE DE POINTS DE PASSAGE SOUS CONTRAINTES DE VITESSE, D'ACCELERATION ET DE MAITRISE DU PHENOMENE DE WANDERING. LA NOTION DE PROFIL D'ACCELERATION IMPOSEE EST UTILISEE ET UNE METHODE ORIGINALE COMBINANT 3 SPLINES CUBIQUES EST PROPOSEE. LA METHODE EST APPLIQUEE A L'ESPACE ARTICULAIRE OU ELLE CONDUIT A UNE GENERATION OPTIMALE EN-LIGNE. DANS L'ESPACE CARTESIEN, LE PROBLEME D'INTERPOLATION EST ABORDE, D'UNE PART, EN IMPOSANT UNE DISTINCTION ENTRE TRAJECTOIRE SPATIALE ET LOI DE MOUVEMENT ASSOCIEE, D'AUTRE PART, EN CHERCHANT A CONSTRUIRE DIRECTEMENT UNE TRAJECTOIRE OPTIMALE EN-LIGNE.
Download or read book GENERATION DE TRAJECTOIRES AVEC EVITEMENT D OBSTACLES EN ROBOTIQUE AVANCEE written by DONG MEI.. XING and published by . This book was released on 1987 with total page 151 pages. Available in PDF, EPUB and Kindle. Book excerpt: CONCEPTION ET MISE EN OEUVRE D'UN MODULE DE GENERATION DE TRAJECTOIRES AVEC EVITEMENT D'OBSTACLE POUR UN MANIPULATEUR D'ASSEMBLAGE CONSTITUE D'UNE SEULE CHAINE MECANIQUE EN BOUCLE OUVERTE. LE GENERATEUR DE TRAJECTOIRES PEUT ETRE INTEGRE DANS UN LANGAGE DE PROGRAMMATION DE ROBOTS
Download or read book GENERATION DE TRAJECTOIRES DE MARCHE OPTIMALES POUR UN ROBOT BIPEDE written by Laurence Roussel and published by . This book was released on 1998 with total page 135 pages. Available in PDF, EPUB and Kindle. Book excerpt: CE TRAVAIL DE THESE A POUR CADRE LA GENERATION DE TRAJECTOIRES DE MARCHE POUR UN ROBOT BIPEDE. LA MARCHE HUMAINE REPONDANT A DES CRITERES D'OPTIMALITE ENERGETIQUE, NOUS SOUHAITONS ETABLIR UNE MARCHE QUI MINIMISE LES DEPENSES D'ENERGIE DU ROBOT. CEPENDANT, LES PARTICULARITES DES ROBOTS MARCHEURS FONT QUE LES TECHNIQUES DE LA COMMANDE OPTIMALE SONT INOPERANTES POUR L'INSTANT. AVEC L'HYPOTHESE DES CORPS RIGIDES, LA MODELISATION D'UN CYCLE COMPLET DE MARCHE SE FAIT A PARTIR D'EQUATIONS ALGEBRO-DIFFERENTIELLES, RENDANT LA RESOLUTION ANALYTIQUE IMPOSSIBLE. C'EST POURQUOI NOUS AVONS REALISE LA GENERATION DE TRAJECTOIRES PAR OPTIMISATION NUMERIQUE EN CONSIDERANT UNE COMMANDE CONSTANTE PAR MORCEAUX. APRES AVOIR COMPARE DIFFERENTES METHODES DE PARAMETRISATION DE LA MARCHE A UNE METHODE SANS PARAMETRISATION SUR UNE PHASE DE LA MARCHE, NOUS AVONS ETENDU CETTE DERNIERE A UN CYCLE COMPLET. A PARTIR DES MARCHES OBTENUES, DES RESULTATS ENERGETIQUES ONT PU ETRE COMPARES A DES RESULTATS RELEVES SUR L'HOMME. LORS DE L'EXTENSION A UN CYCLE COMPLET DE MARCHE, L'ETUDE DE LA LITTERATURE SUR LA MODELISATION DES PHENOMENES DE CONTACT A MONTRE QUE LE PROBLEME N'ETAIT PAS ENCORE COMPLETEMENT RESOLUT A L'AIDE DES MODELES RIGIDES. L'INTRODUCTION DE MODELES COMPLIANTS NON LINEAIRES EST ALORS APPARU COMME UN MOYEN EFFICACE DE MODELISER LE CONTACT PIED/SOL EN GARANTISSANT UNE CONTINUITE DE LA DYNAMIQUE. CE MODELE A ETE COMPLETE PAR L'AJOUT D'UN MODELE DE FROTTEMENT DYNAMIQUE DANS LE SENS TANGENTIEL QUI GERE LE GLISSEMENT ET LE RECOLLAGE AUTOMATIQUEMENT.
Download or read book GENERATION DE MOUVEMENTS OPTIMAUX POUR UN ROBOT MANIPULATEUR written by PATRICK.. PLEDEL and published by . This book was released on 1996 with total page 172 pages. Available in PDF, EPUB and Kindle. Book excerpt: AFIN DE REDUIRE LES TEMPS DE CYCLE, LES CHERCHEURS EN ROBOTIQUE ONT TRAVAILLE SUR DIFFERENTS PROBLEMES D'OPTIMISATION. L'APPROCHE CLASSIQUE UTILISE LES NOTIONS DE GENERATION DE TACHES, DE GENERATION DE CHEMINS, DE GENERATION DE MOUVEMENT ET FINALEMENT CELLE DE LA COMMANDE PROPREMENT DITE. NOTRE ETUDE PORTE SUR LA GENERATION DE MOUVEMENT. LES PREMIERES ETUDES PRENAIENT EN COMPTE LES VITESSES ET ACCELERATIONS ARTICULAIRES MAXIMALES, DONC DES CONTRAINTES DETERMINEES DE FACON EXPERIMENTALE POUR DES CONFIGURATIONS PENALISANTES DU ROBOT. LES SOLUTIONS APPORTEES SONT DONC SOUS-OPTIMALES MAIS D'UN EMPLOI TRES AISE. LE SUIVI DE TRAJECTOIRE ETANT LIE A LA DYNAMIQUE DU ROBOT, IL EST PREFERABLE DE TENIR COMPTE DES LIMITATIONS SUR LES COUPLES. LE SUJET DE CETTE THESE EST LA RECHERCHE DES MOUVEMENTS OPTIMAUX DE TRAJECTOIRES RELIANT UN CERTAIN NOMBRE DE POINTS DONNES DANS L'ESPACE ARTICULAIRE OU L'ESPACE OPERATIONNEL, SOUS CONTRAINTES TECHNOLOGIQUES. APRES AVOIR DECRIT LES MODELES UTILISES EN ROBOTIQUE, NOUS INCORPORONS AU MODELE DYNAMIQUE DU ROBOT LES CONTRAINTES ELECTRIQUES ET THERMIQUES DE L'ENSEMBLE CONVERTISSEURS-MACHINES. CES CONTRAINTES SONT ECRITES POUR DES MOTEURS A COURANT CONTINU. POUR DES TRAJECTOIRES POLYNOMIALES FONCTION DU TEMPS, LA DUREE DE PARCOURS EST CALCULEE POUR SATISFAIRE LES CONTRAINTES TECHNOLOGIQUES. NOUS REECRIVONS LE PROBLEME POUR LE RAMENER A LA RESOLUTION D'EQUATIONS POLYNOMIALES OU L'INCONNUE EST LE TEMPS DE PARCOURS DE LA TRAJECTOIRE. UN LOGICIEL DE CALCULS FORMELS PERMET DE DONNER UNE SOLUTION ANALYTIQUE POUR CHACUNE DES CONTRAINTES. LA GENERALISATION A PLUSIEURS POINTS DE PASSAGE NECESSITE L'OPTIMISATION DES VITESSES ET ACCELERATIONS ARTICULAIRES EN CES POINTS. DE MEME, UNE TRAJECTOIRE DEFINIE DANS L'ESPACE CARTESIEN UTILISE LES MODELES GEOMETRIQUE ET CINEMATIQUES INVERSES. L'OPTIMISATION FONCTIONNELLE CONDUIT A UN PROBLEME NON LINEAIRE ET DE GRANDE TAILLE, AVEC DES TEMPS DE CALCUL LONGS ET UNE SOLUTION SOUS FORME DE TABLEAU. LA METHODE AVEC POLYNOMES TEMPORELS, PLUS ADAPTEE D'UN POINT DE VUE UTILISATEUR, A FAIT L'OBJET D'UNE IMPLANTATION SUR LE ROBOT DEUX AXES DU LABORATOIRE D'AUTOMATIQUES DE NANTES
Download or read book Optimisation de trajectoire pour l augmentation des capacit s des manipulateurs robotiques written by André Gallant and published by . This book was released on 2020 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Résumé en anglais
Download or read book Model Based Systems Engineering with OPM and SysML written by Dov Dori and published by Springer. This book was released on 2016-06-01 with total page 419 pages. Available in PDF, EPUB and Kindle. Book excerpt: Model-Based Systems Engineering (MBSE), which tackles architecting and design of complex systems through the use of formal models, is emerging as the most critical component of systems engineering. This textbook specifies the two leading conceptual modeling languages, OPM—the new ISO 19450, composed primarily by the author of this book, and OMG SysML. It provides essential insights into a domain-independent, discipline-crossing methodology of developing or researching complex systems of any conceivable kind and size. Combining theory with a host of industrial, biological, and daily life examples, the book explains principles and provides guidelines for architecting complex, multidisciplinary systems, making it an indispensable resource for systems architects and designers, engineers of any discipline, executives at all levels, project managers, IT professional, systems scientists, and engineering students.
Download or read book Systems Theory written by Igorʹ Viktorovich Blauberg and published by . This book was released on 1977 with total page 328 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Nonlinear Programming written by Dimitri P. Bertsekas and published by Goodman Publishers. This book was released on 1999 with total page 808 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book The Ungovernable Society written by Grégoire Chamayou and published by Polity. This book was released on 2021-05-03 with total page 350 pages. Available in PDF, EPUB and Kindle. Book excerpt: Rebellion was in the air. Workers were on strike, students were demonstrating on campuses, discipline was breaking down. No relation of domination was left untouched – the relation between the sexes, the racial order, the hierarchies of class, relationships in families, workplaces and colleges. The upheavals of the late 1960s and early 1970s quickly spread through all sectors of social and economic life, threatening to make society ungovernable in the eyes of ruling elites. This crisis was also the birthplace of the authoritarian liberalism which continues to cast its shadow across the world in which we now live. To ward off the threat, new arts of government were devised in business-related circles, which included a war against the trade unions, the primacy of shareholder value and a dethroning of politics. The neoliberalism that thus began its triumphal march was not, however, determined by a simple ‘state phobia’ and a desire to free up the economy from government interference. On the contrary, the strategy for overcoming the crisis of governability consisted in an authoritarian liberalism in which the liberalization of society went hand-in-hand with new forms of power imposed from above: a ‘strong state’ for a ‘free economy’ became the new magic formula of our capitalist societies. Grégoire Chamayou analyses this crisis as it was perceived and theorized in the 1970s by those who strove to defend the interests of business – that is, the ruling elites, especially in the United States, from which a far-reaching intellectual and political movement spread. The new arts of government they devised are still with us today and we can understand their nature and lasting influence only by re-examining the history of the conflicts that brought them into being.
Download or read book Scientific Canadian Mechanics Magazine and Patent Office Record written by Canada. Patent Office and published by . This book was released on 1966-03 with total page 1070 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book A Practical Guide to SysML written by Sanford Friedenthal and published by Morgan Kaufmann. This book was released on 2009-08-25 with total page 577 pages. Available in PDF, EPUB and Kindle. Book excerpt: A Practical Guide to SysML: The Systems Modeling Language is a comprehensive guide to SysML for systems and software engineers. It provides an advanced and practical resource for modeling systems with SysML. The source describes the modeling language and offers information about employing SysML in transitioning an organization or project to model-based systems engineering. The book also presents various examples to help readers understand the OMG Systems Modeling Professional (OCSMP) Certification Program. The text is organized into four parts. The first part provides an overview of systems engineering. It explains the model-based approach by comparing it with the document-based approach and providing the modeling principles. The overview of SYsML is also discussed. The second part of the book covers a comprehensive description of the language. It discusses the main concepts of model organization, parametrics, blocks, use cases, interactions, requirements, allocations, and profiles. The third part presents examples that illustrate how SysML supports different model-based procedures. The last part discusses how to transition and deploy SysML into an organization or project. It explains the integration of SysML into a systems development environment. Furthermore, it describes the category of data that are exchanged between a SysML tool and other types of tools, and the types of exchange mechanisms that can be used. It also covers the criteria that must be considered when selecting a SysML. Software and systems engineers, programmers, IT practitioners, experts, and non-experts will find this book useful. *The authoritative guide for understanding and applying SysML *Authored by the foremost experts on the language *Language description, examples, and quick reference guide included
Download or read book Societal Systems written by John N. Warfield and published by John Wiley & Sons. This book was released on 1976 with total page 536 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book The Literary Works of Leonardo Da Vinci written by Jean Paul Richter and published by Franklin Classics Trade Press. This book was released on 2018-11-08 with total page 540 pages. Available in PDF, EPUB and Kindle. Book excerpt: This work has been selected by scholars as being culturally important and is part of the knowledge base of civilization as we know it. This work is in the public domain in the United States of America, and possibly other nations. Within the United States, you may freely copy and distribute this work, as no entity (individual or corporate) has a copyright on the body of the work. Scholars believe, and we concur, that this work is important enough to be preserved, reproduced, and made generally available to the public. To ensure a quality reading experience, this work has been proofread and republished using a format that seamlessly blends the original graphical elements with text in an easy-to-read typeface. We appreciate your support of the preservation process, and thank you for being an important part of keeping this knowledge alive and relevant.
Download or read book Flight Formation Control written by Josep M. Guerrero and published by John Wiley & Sons. This book was released on 2012-12-17 with total page 279 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the last decade the development and control of Unmanned Aerial Vehicles (UAVs) has attracted a lot of interest. Both researchers and companies have a growing interest in improving this type of vehicle given their many civilian and military applications. This book presents the state of the art in the area of UAV Flight Formation. The coordination and robust consensus approaches are presented in detail as well as formation flight control strategies which are validated in experimental platforms. It aims at helping students and academics alike to better understand what coordination and flight formation control can make possible. Several novel methods are presented: - controllability and observability of multi-agent systems; - robust consensus; - flight formation control; - stability of formations over noisy networks; which generate solutions of guaranteed performance for UAV Flight Formation. Contents 1. Introduction, J.A. Guerrero. 2. Theoretical Preliminaries, J.A. Guerrero. 3. Multiagent Coordination Strategies, J.A. Guerrero, R. Lozano, M.W. Spong, N. Chopra. 4. Robust Control Design for Multiagent Systems with Parametric Uncertainty, J.A. Guerrero, G. Romero. 5. On Adaptive and Robust Controlled Synchronization of Networked Robotic Systems on Strongly Connected Graphs, Y.-C. Liu, N. Chopra. 6. Modeling and Control of Mini UAV, G. Flores Colunga, J.A. Guerrero, J. Escareño, R. Lozano. 7. Flight Formation Control Strategies for Mini UAVs, J.A. Guerrero. 8. Formation Based on Potential Functions, L. García, A. Dzul. 9. Quadrotor Vision-Based Control, J.E. Gomez-Balderas, J.A. Guerrero, S. SALAZAR, R. Lozano, P. Castillo. 10. Toward Vision-Based Coordination of Quadrotor Platoons, L.R. García Carrillo, J.A. Guerrero, R. Lozano. 11. Optimal Guidance for Rotorcraft Platoon Formation Flying in Wind Fields, J.A. Guerrero, Y. Bestaoui, R. Lozano. 12. Impact of Wireless Medium Access Protocol on the Quadrotor Formation Control, J.A. Guerrero, Y. Challal, P. Castillo. 13. MAC Protocol for Wireless Communications, A. Mendez, M. Panduro, O. Elizarraras, D. Covarrubias. 14. Optimization of a Scannable Pattern for Bidimensional Antenna Arrays to Provide Maximum Performance, A. Reyna, M.A. Panduro, A. Mendez.
Download or read book Parallel Scientific Computing written by Frédéric Magoules and published by John Wiley & Sons. This book was released on 2016-01-26 with total page 374 pages. Available in PDF, EPUB and Kindle. Book excerpt: Scientific computing has become an indispensable tool in numerous fields, such as physics, mechanics, biology, finance and industry. For example, it enables us, thanks to efficient algorithms adapted to current computers, to simulate, without the help of models or experimentations, the deflection of beams in bending, the sound level in a theater room or a fluid flowing around an aircraft wing. This book presents the scientific computing techniques applied to parallel computing for the numerical simulation of large-scale problems; these problems result from systems modeled by partial differential equations. Computing concepts will be tackled via examples. Implementation and programming techniques resulting from the finite element method will be presented for direct solvers, iterative solvers and domain decomposition methods, along with an introduction to MPI and OpenMP.
