8TH ENGINEERING AND 2ND INTERNATIONAL CONFERENCE FOR COLLEGE OF ENGINEERING – UNIVERSITY OF BAGHDAD: COEC8-2021 Proceedings最新文献

{"title":"Cascade position- torque control strategy based on function approximation technique (FAT) for flexible joint robots","authors":"H. Al-Shuka, B. Corves, Ehab N. Abbas","doi":"10.21203/rs.3.rs-1197021/v1","DOIUrl":"https://doi.org/10.21203/rs.3.rs-1197021/v1","url":null,"abstract":"\u0000 This work deals with control of rigid link robotic manipulators provided with flexible joints. Due to presence of flexible joint dynamics, additional degrees of freedom and underactuation are developed that would complicate the control design. Besides, model uncertainties, unmodeled dynamics and disturbances should be considered in robot modeling and control. Therefore, this paper proposes a cascade position-torque control strategy based on function approximation technique (FAT). The key idea is to design two nested loops: 1) an outer position control loop for tracking reference trajectory, and 2) an inner joint torque control loop to track the desired joint torque resulted from the outer position loop. The torque control loop makes the robot system more adaptable and compliant for sudden disturbances. It increases the perception capability for the target robot mechanisms. Adaptive approximation control (AAC) is used as a strong tool for dealing with time-varying uncertain parameters and disturbances. A sliding mode term is easily integrated with control law structure; however, a constraint on feedback gains are established for compensating modeling (approximation) error. The proposed control architecture can be easily used for high degrees of freedom robotic system due to the decentralized behavior of the AAC. A two-link manipulator is used for simulation experiments.The simulated robot is commanded to move from rest to desired step references considering three cases depending on the selected value of the sliding mode time constant. It is shown that selection of a large time constant parameter related to the position loop leads to slow response. Besides, one of the inherent issues associated with the inner torque control is the presence of derivative of desired joint torque that makes the input control abruptly jumping at the beginning of the dynamic response. To end this, an approximation for derivative term of the desired joint torque is established using a low-pass filter with a time constant selected carefully such that a feasible dynamic response is ensured.The results show the effectiveness of the proposed controller.","PeriodicalId":338932,"journal":{"name":"8TH ENGINEERING AND 2ND INTERNATIONAL CONFERENCE FOR COLLEGE OF ENGINEERING – UNIVERSITY OF BAGHDAD: COEC8-2021 Proceedings","volume":"147 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124708516","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Mixed convection in an open lid-driven cavity attached with a rectangular channel","authors":"Amal Abdalrazaq Abd Hussien, A. Hussein","doi":"10.1063/5.0105428","DOIUrl":"https://doi.org/10.1063/5.0105428","url":null,"abstract":"","PeriodicalId":338932,"journal":{"name":"8TH ENGINEERING AND 2ND INTERNATIONAL CONFERENCE FOR COLLEGE OF ENGINEERING – UNIVERSITY OF BAGHDAD: COEC8-2021 Proceedings","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115462508","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Designing an autonomous robot prototype for detecting traffic violations","authors":"A. Mahdi, Zina A. Saleh, Fatimah Hasan Ridha","doi":"10.1063/5.0106121","DOIUrl":"https://doi.org/10.1063/5.0106121","url":null,"abstract":"","PeriodicalId":338932,"journal":{"name":"8TH ENGINEERING AND 2ND INTERNATIONAL CONFERENCE FOR COLLEGE OF ENGINEERING – UNIVERSITY OF BAGHDAD: COEC8-2021 Proceedings","volume":"100 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123104792","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"The effect of architectural landmarks on a skyline and the mental images of the cities of ancient civilizations","authors":"Maryam Ahmed, A. Ashour","doi":"10.1063/5.0106893","DOIUrl":"https://doi.org/10.1063/5.0106893","url":null,"abstract":"","PeriodicalId":338932,"journal":{"name":"8TH ENGINEERING AND 2ND INTERNATIONAL CONFERENCE FOR COLLEGE OF ENGINEERING – UNIVERSITY OF BAGHDAD: COEC8-2021 Proceedings","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117147377","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Effect of aggregate proportion for different types on porous concrete properties","authors":"Rafal Z. M. AlSaffar, H. M. Albegmprli","doi":"10.1063/5.0107028","DOIUrl":"https://doi.org/10.1063/5.0107028","url":null,"abstract":"","PeriodicalId":338932,"journal":{"name":"8TH ENGINEERING AND 2ND INTERNATIONAL CONFERENCE FOR COLLEGE OF ENGINEERING – UNIVERSITY OF BAGHDAD: COEC8-2021 Proceedings","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121080809","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Community participation’s role in the sustainability of adaptive reuse","authors":"Raghad A. Fadhil, Sarah M. Al-Zaidi","doi":"10.1063/5.0105633","DOIUrl":"https://doi.org/10.1063/5.0105633","url":null,"abstract":"","PeriodicalId":338932,"journal":{"name":"8TH ENGINEERING AND 2ND INTERNATIONAL CONFERENCE FOR COLLEGE OF ENGINEERING – UNIVERSITY OF BAGHDAD: COEC8-2021 Proceedings","volume":"174 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123302321","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Visual-infrared image monitoring system for moving object detection, classification and tracking using deep learning technique","authors":"Maad Issa Al Tameemi, B. K. Oleiwi","doi":"10.1063/5.0107079","DOIUrl":"https://doi.org/10.1063/5.0107079","url":null,"abstract":"","PeriodicalId":338932,"journal":{"name":"8TH ENGINEERING AND 2ND INTERNATIONAL CONFERENCE FOR COLLEGE OF ENGINEERING – UNIVERSITY OF BAGHDAD: COEC8-2021 Proceedings","volume":"89 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117280090","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Model analysis of tunable CPM-MZI pulse compressor","authors":"Nada F. Noori, Baraa H. Mutar, T. S. Mansour","doi":"10.1063/5.0105564","DOIUrl":"https://doi.org/10.1063/5.0105564","url":null,"abstract":"","PeriodicalId":338932,"journal":{"name":"8TH ENGINEERING AND 2ND INTERNATIONAL CONFERENCE FOR COLLEGE OF ENGINEERING – UNIVERSITY OF BAGHDAD: COEC8-2021 Proceedings","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114771408","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Measuring spatial properties of historic urban networks","authors":"Haider Al Hashimi, Dhirgham Alobaydi","doi":"10.1063/5.0117077","DOIUrl":"https://doi.org/10.1063/5.0117077","url":null,"abstract":"","PeriodicalId":338932,"journal":{"name":"8TH ENGINEERING AND 2ND INTERNATIONAL CONFERENCE FOR COLLEGE OF ENGINEERING – UNIVERSITY OF BAGHDAD: COEC8-2021 Proceedings","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124413699","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Experimental study on strengthening punching shear in concrete flat plates by steel collars","authors":"Ahmed A. Abdulhussein, M. Al-Sherrawi","doi":"10.1063/5.0130802","DOIUrl":"https://doi.org/10.1063/5.0130802","url":null,"abstract":"","PeriodicalId":338932,"journal":{"name":"8TH ENGINEERING AND 2ND INTERNATIONAL CONFERENCE FOR COLLEGE OF ENGINEERING – UNIVERSITY OF BAGHDAD: COEC8-2021 Proceedings","volume":"122 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127685953","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}