In real-time hybrid model testing, complex ocean structures are emulated by fusing numerical modelling with traditional hydrodynamic testing. This is done partitioning the structure under consideration into a and physical substructure, coupled in real time via measurement control interface. The numerically computed load vector applied to substructure means of multiple actuated winches so that r...

We are considering cable-driven parallel robot (CDPR), where the legs of constituted cables that can be independently coiled/uncoiled. show whatever size CDPR is we may have slack so using a sagging cable model takes into account both mass and elasticity will improve positioning accuracy. Being able to solve inverse direct kinematics (IK/DK) with crucial for kinematic analysis while being quite...

Abstract Cable-driven parallel robots (CDPRs) offer high payload capacities, large translational workspace, and dynamics performances. Their rotational workspace is generally far more limited, however, which can be resolved using cable loops, as was shown in previous research. In the case of fully constrained CDPRs, loops induce unwanted torques on moving-platform (MP), causing it to tilt move ...

This paper addresses the dynamic path planning for two mobile robots in unknownenvironment with obstacle avoidance and moving target tracking. These robots must form atriangle with moving target. The algorithm is composed of two parts. The first part of thealgorithm used for formation planning of the robots and a moving target. It generates thedesired position for the robots for the next step. ...

Cable termination faults are problematic in electrical networks almost always. Technology has solved problems somewhat, but there are many annual reports about damaged cable terminations. For analyzing the problems, faults in two regional electricity companies are studied. At first step, damaged cable terminations are analyzed statistically and grouped according to their problems. Then, some of...

In this study, we investigated dynamic control strategies for over-constrained cable-driven robots. order to a robot, it is essential address issues that arise from the restriction of cable tension, as well redundancy an system. contrast previous research required consideration relationship between tension constraints and computed wrench in distribution problems, developed function incorporates...

Accuracy improvement is an important research topic in the field of cable-driven parallel robots (CDPRs). One reason for inaccuracies CDPRs are deviations cable lengths. Such can be caused by elongation due to its elasticity or creep behavior. For most common CDPRs, lengths controlled using motor encoders winches, without feedback about actual cables. To address this problem, paper proposes a d...

This paper presents recent results from the Robotics Systems Laboratory at the Australian National University in the area of Robot Vision. Progress has been made in the design and construction of novel mechanisms for both active and panoramic vision, together with computer systems that facilitate real-time vision processing. The robot vision systems are being used to develop human-friendly robo...