planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. the problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...

in this research optimal reconfiguration strategy of the improved srr reconfigurable mobile robot based on force-angle stability measure has been designed using genetic algorithm. path tracking nonlinear controller which keeps robot’s maximum stability has been designed and simulated in matlab. motion equations of the robot have been derived in parametric form by means of newton- euler, lagrang...

Business Process Modeling (BPM) is the first and most important step in business process management lifecycle. Graph based formalism and rule based formalism are the two most predominant formalisms on which process modeling languages are developed. BPM technology continues to face challenges in coping with dynamic business environments where requirements and goals are constantly changing at the...

Modern industrial automation relies on service oriented concepts of Internet of Things (IoT) device modeling in order to provide a flexible and extendable environment for service meta-repository. However, state-of-the-art meta-modeling techniques prefer design-time modeling, which results in a heavy usage of class sometimes unnecessary static subtyping. Although this approach benefits from clea...

in this research, first, kinematic and dynamic equations of a 4-dof 3-link robotic finger are derived using denavit-hartenberg convention and lagrange’s formulation. to model the muscles, several springs and dampers are placed between the finger links. then, two advanced controllers, namely adaptive-robust and adaptive-neural, which can control the robotic finger in presence of parametric uncer...

This paper presents a methodology for dynamic modeling and trajectory tracking of a dexterous hand. Firstly, the kinematic model is set up based on modified D-H principle. Then we employ an energy-based approach for modeling and its bond graph notation ensures encapsulation of functionality, extendibility and reusability of each element of the model. A toolbox BG V.2.1 in Matlab/Simulink is use...

This paper presents a methodology for dynamic modeling and trajectory tracking of a nonholonomic wheeled mobile manipulator with dual arms. First, the kinematic model is set up based on modified D-H principle. Then we employ an energy-based approach for modeling and its bond graph notation ensures encapsulation of functionality, extendibility and reusability of each element of the model. A tool...

Offering telematics services toward the end-users involves inter-domain real-time service provisioning, it therefore can also involves inter-domain real-time service accounting. Recognizing the increasing complexity of accounting services due to dynamic service usage behavior of the end-users, the paper addresses a way to first, decompose end-to-end service into accountable service components a...