Trajectory and Force Control of a Direct Drive Arm

Using the MIT Serial Link Direct Drive Arm as the main experimental device, various issues in trajectory and force control of manipulators were studied in this thesis. Since accurate modeling is important for any controller, issues of estimating the dynamic model of a manipulator and its load were addressed first. Practical and effective algorithms were developed fro the Newton-Euler equations to estimate the inertial parameters of manipulator rigid-body loads and links. Load estimation was implemented both on PUMA 600 robot and on the MIT Serial Link Direct Drive Arm. With the link estimation algorithm, the inertial parameters of the direct drive arm were obtained. For both load and link estimation results, the estimated parameters are good models of the actual system for control purposes since torques and forces can be predicted accurately from these estimated parameters. The estimated model of the direct drive arm was them used to evaluate trajectory following performance by feedforward and computed torque control algorithms. The experimental evaluations showed that the dynamic compensation can greatly improve trajectory following accuracy. Various stability issues of force control were studied next. It was determined that there are two types of instability in force control. Dynamic instability, present in all of the previous force control algorithms discussed in this thesis, is caused by the interaction of a manipulator with a stiff environment. Kinematics instability is present only in the hybrid control algorithm of Raibert and Craig, and is caused by the interaction of the inertia matrix with the Jacobian inverse coordinate transformation in the feedback path. Several methods were suggested and demonstrated experimentally to solve these stability problems. The result of the stability analyses were then incorporated in implementing a stable force/position controller on the direct drive arm by the modified resolved acceleration method using both joint torque and wrist force sensor feedbacks.

Risk Aversion in Inventory Management

Traditional inventory models focus on risk-neutral decision makers, i.e., characterizing replenishment strategies that maximize expected total profit, or equivalently, minimize expected total cost over a planning horizon. In this paper, we propose a framework for incorporating risk aversion in multi-period inventory models as well as multi-period models that coordinate inventory and pricing strategies. In each case, we characterize the optimal policy for various measures of risk that have been commonly used in the finance literature. In particular, we show that the structure of the optimal policy for a decision maker with exponential utility functions is almost identical to the structure of the optimal risk-neutral inventory (and pricing) policies. Computational results demonstrate the importance of this approach not only to risk-averse decision makers, but also to risk-neutral decision makers with limited information on the demand distribution.

Corner Flows in Free Liquid Films

A lubrication-flow model for a free film in a corner is presented. The model, written in the hyperbolic coordinate system ξ = x² – y², η = 2xy, applies to films that are thin in the η direction. The lubrication approximation yields two coupled evolution equations for the film thickness and the velocity field which, to lowest order, describes plug flow in the hyperbolic coordinates. A free film in a corner evolving under surface tension and gravity is investigated. The rate of thinning of a free film is compared to that of a film evolving over a solid substrate. Viscous shear and normal stresses are both captured in the model and are computed for the entire flow domain. It is shown that normal stress dominates over shear stress in the far field, while shear stress dominates close to the corner.

Compositional amalgamations and balances: a critical approach

The amalgamation operation is frequently used to reduce the number of parts of compositional data but it is a non-linear operation in the simplex with the usual geometry, the Aitchison geometry. The concept of balances between groups, a particular coordinate system designed over binary partitions of the parts, could be an alternative to the amalgamation in some cases. In this work we discuss the proper application of both concepts using a real data set corresponding to behavioral measures of pregnant sows

jCRS: extensión de gvSIG para la gestión de Sistemas de Referencia de Coordenadas

A solution adpoted in gvSIG for Coordinate Reference Systems (CRS) management is shown, like importing form several databases, to the new definition, as well as handing conversion and transformation operations between different CRSs, in particular for ED50 to ETRS89 transition

A Multiagent System for Coordinating Ambulances for Emergency Medical Services

To coordinate ambulances for emergency medical services, a multiagent system uses an auction mechanism based on trust. Results of tests using real data show that this system can efficiently assign ambulances to patients, thereby reducing transportation time. Emergency transportation on specialized vehicles is needed when a person's health is in risk of irreparable damage. A patient can't benefit from sophisticated medical treatments and technologies if she or he isn't placed in a proper healthcare center with the appropriate medical team. For example, strokes are neurological emergencies involving a limited amount of time in which treatment measures are effective

¿Es posible la coordinación entre el Sistema Judicial Nacional y la Jurisdicción Indígena en Colombia? : aportes para un diálogo intercultural e interjurisdiccional

En cuanto que las minorías étnicas son reconocidas constitucionalmente, se encuentra un ambiente propicio para lograr con éxito la necesidad de reconocer a los pueblos indígenas como una cultura diferenciada, razón por la cual, constitucionalmente se otorgó status constitucional a su propio sistema de impartir justicia, es decir, su sistema judicial, al punto que es el artículo 246 de la Constitución Política así lo consagra, siendo de ésta manera como se hizo improrrogable hacer efectivo un mecanismo que permita el funcionamiento armónico de la jurisdicción especial indígena y Sistema Jurídico Nacional. Por ésta razón el presente trabajo investigativo, se desarrollará con base en los resultados arrojados por el proyecto Extensión de la coordinación del Sistema Judicial Nacional (SJN) y la Jurisdicción Especial Indígena (JEI), exponiendo una serie de componentes y elementos jurídicos que pretenden analizar la problemática de coexistencia de culturas jurídicas diferentes, en el marco del Estado Social de Derecho, con base en el pluralismo jurídico, diversidad cultural e interculturalismo.

Diseño de un plan de mejoramiento para el sector panelero en el municipio de Santana - Boyacá

El siguiente trabajo de grado se desarrolla para el sector panelero en el municipio de Santana – Boyacá, ubicado en la Hoya del Río Suárez, lugar en donde la producción de panela constituye la actividad económica más importante de la región. El objetivo del trabajo es la formulación de una estrategia que permita el fortalecimiento de dicho sector, de tal manera que se pueda mejorar la situación actual del mismo. A lo largo del estudio se analizan diferentes factores que recaen en la situación actual del sector; después de utilizar las herramientas del Modelo Matricial y realizar diversas encuestas a paneleros y consumidores, se plantea y evalúa la alternativa que conlleve a la implementación de formas de cooperativismo como solución. Se define el cooperativismo como oportunidad de mejora, ya que por medio del trabajo en equipo y la consolidación de esfuerzos se conseguirían grandes beneficios para el sector; tales como: reconocimiento de marca, mejores condiciones laborales, estabilidad en precios y grandes oportunidades de innovación. La solución propuesta de unificar productores paneleros se compone del establecimiento de un fondo panelero, encargado de mantener precios estándar para los productores y protegerlos de la volatilidad que los caracteriza. La cooperativa organizaría a los productores, además de asegurar la comercialización e incentivar el consumo de panela en el municipio de Santana-Boyacá.

Exercise sheet 5 pdf

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Exercise sheet 6

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Exercise sheet 5

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Exercise sheet 5 pdf

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Exercises B pdf

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Exercise sheet 6 pdf

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Exercises B

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