Distributed fault-tolerant control of modular and reconfigurable robots with consideration of actuator saturation
Sign Up to like & getrecommendations! Published in 2020 at "Neural Computing and Applications"
DOI: 10.1007/s00521-020-04768-z
Abstract: A novel decomposition-based distributed robust fault-tolerant control method is proposed for modular and reconfigurable robots based on joint torque sensing. The designed robust controller compensates for both model uncertainties and a class of actuator faults.… read more here.
Keywords: fault; fault tolerant; tolerant control; actuator ... See more keywords
A modular and reconfigurable open-channel gated device for the electrokinetic extraction of cell-free DNA assays.
Sign Up to like & getrecommendations! Published in 2022 at "Analytica chimica acta"
DOI: 10.1016/j.aca.2022.339435
Abstract: The high-efficiency separation and extraction of short fragments of cell-free DNA (cfDNA) remain challenging due to their low abundance and short lengths. This study presents a method for separating short cfDNA fragments, with lengths ranging… read more here.
Keywords: dna; extraction; cell free; modular reconfigurable ... See more keywords
Configuration selection for tip-over stability of a modular reconfigurable mobile manipulator under various application situations
Sign Up to like & getrecommendations! Published in 2022 at "Robotica"
DOI: 10.1017/s0263574722001424
Abstract: Abstract A method is presented for configuration selection to obtain the best tip-over stability of a modular reconfigurable mobile manipulator (MRMM) under various application situations. The said MRMM consists of a modular reconfigurable robot (MRR)… read more here.
Keywords: application; configuration; modular reconfigurable; tip ... See more keywords
Automatically Deployable Robust Control of Modular Reconfigurable Robot Manipulators
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3155826
Abstract: We propose an automatically deployable robust control scheme for modular reconfigurable robot manipulators, which accounts for noisy velocity measurements, yet it maximizes the tracking performance while avoiding chattering effects. Our proposed control approach automatically adapts… read more here.
Keywords: modular reconfigurable; automatically deployable; control; robust control ... See more keywords
A Modular and Reconfigurable Pipeline Architecture for Learning Vector Quantization
Sign Up to like & getrecommendations! Published in 2018 at "IEEE Transactions on Circuits and Systems I: Regular Papers"
DOI: 10.1109/tcsi.2018.2804946
Abstract: Learning vector quantization (LVQ) neural networks have already been successfully applied for image compression and object recognition. In this paper, we propose a modular and reconfigurable pipeline architecture (MRPA) for LVQ. The MRPA consists of… read more here.
Keywords: vector; pipeline architecture; reconfigurable pipeline; learning vector ... See more keywords
Assembly Configuration Representation and Kinematic Modeling for Modular Reconfigurable Robots Based on Graph Theory
Sign Up to like & getrecommendations! Published in 2022 at "Symmetry"
DOI: 10.3390/sym14030433
Abstract: A Modular Reconfigurable Robot (MRR) composed of standard joint and link modules has the advantages of rapid changeover of assembly configurations for a diversity of application requirements. To tackle the kinematics analysis issues for an… read more here.
Keywords: configuration; assembly configuration; modular reconfigurable; graph ... See more keywords