This paper presents a novel methodology for deriving the dynamic equations of mechatronic systems from component models that are represented as linear graphs. This work is part of a larger research effort in composable simulation. In this framework, CAD models of system components are augmented with simulation models describing the component’s dynamic behavior in different energy domains. By co...

In robotics, homing can be defined as that behavior which enables a robot to return to its initial (home) position, after traveling a certain distance along an arbitrary path. Odometry has traditionally been used for the implementation of such a behavior, but it has been shown to be an unreliable source of information. In this work, a novel method for visual homing is proposed, based on a panor...

There are actually several solutions for two axis solar tracking systems using electromechanical devices, in which a controller detects the Sun apparent position, and controls the position of the structure supporting the panels toward the sun by enabling the engines movement. This work studies the solution of two axis solar tracking system based on solar maps, which can predict the exact appare...

In robotics, homing can be defined as that behavior, which enables a robot to return to its initial (home) position, after traveling a certain distance along an arbitrary path. Odometry has traditionally been used for the implementation of such a behavior, but it has been shown to be an unreliable source of information. In this work, a novel method for visual homing is proposed, based on a pano...

An optimal strategy based on minimum effort control and also with terminal positionconstraint is developed for an exoatmospheric interceptor with a fixed- interval guidance time. It isthen integrated with sliding-mode control theory to drive an optimal sliding-mode guidance law forfixed-interval guidance time. In addition, this guidance law is generalized for intercepting anarbitrarily time-var...

in recent years many researches are carried out to develop robots for agricultural applications. one of the main steps in agricultural robot fabrication is the generation of guidance signals. the objective of this research was a feasibility study of ultrasonic sensors in generating guidance signals to determine the position and orientation of a mobile robot for greenhouse applications. a series...

This paper presents a modeling and simulation of a superconducting maglev vehicle with a levitation and guidance assist method we have proposed. The assist system stabilizes and assists the vehicle operation so that the vehicle does not need to depend on the mechanical wheels as much as possible at low speeds. By controlling the LSM armature currents, the auxiliary levitation and guidance force...

Recent advancements in CubeSat technology unfold new mission ideas and the opportunity to lower cost of space exploration. Ground operations costs for interplanetary CubeSats, however, still re...

Fuzzy Logic is an innovative technology that enables the implementation of ‘intelligent’ functions in embedded systems. One of its advantages is, that even complicated functions and adaptive control loops can be implemented with the limited resources of low-cost 8 bit microcontrollers. We will discuss development methodologies, tools used, and code speed/size requirements of three case studies....