The new idea presented in the paper is to reverse of an assembly line in order to allow complete disassembly. A generalised Synchronised Hybrid Petri Nets (SHPN) model based control of an assembly/disassembly mechatronics line (A/DML) served by a wheeled mobile robot (WMR) equipped with robotic manipulator (RM) is presented. The approach is a hybrid one, the assembly/disassembly line being the ...

Path following of the mobile robot is one research hot for the mobile robot navigation. For the control system of the wheeled mobile robot(WMR) being in nonhonolomic system and the complex relations among the control parameters, it is difficult to solve the problem based on traditional mathematics model. In this paper, we presents a simple and effective way of implementing an adaptive following...

Miniature melanocytes have been observed scattered among the typical melanocytes in the skin of the PET/Wmr mouse strain, They are weakly DOPA reactive and their cell bodies and nuclei are one quarter the size of those in typical melanocytes, Both populations reach a peak during the first postnatal week and then gradually disappear within the following three weeks. The miniatures appear very ea...

Pursuit Evasion (P-E) problem has been studied as a non-cooperative zero-sum game in Homicidal Chauffer problem [1] in 1960s and in the game of two identical cars [2] most recently. The capture conditions in the two games, which govern the capture behavior, can be determined by solving Hamilton-Jacobi-Isaacs (HJI) equations. However, the existing game theoretic solution does not consider wheel ...

Model predictive control, MPC, has many interesting features for its application to mobile robot control. It is a more effective advanced control technique, as compared to the standard PID control, and has made a significant impact on industrial process control (Maciejowski, 2002). MPC usually contains the following three ideas: • The model of the process is used to predict the future outputs a...

Path planning evaluates and identifies an obstacle free path for a wheeled mobile robot (WMR) to traverse within its workspace. It emphasizes metric like, start goal coordinate, static or dynamic workspace, obstacles, computational time local minimum problem. play significant role toward WMR effective it workspace like industrial, military, hospital, school office. In this is optimal method inc...

Abstract. Mesoscale meteorological phenomena, including atmospheric gravity waves (AGWs) and trapped lee (TLWs), can result from flow over topography or coastal transition in the presence of stable stratification, particularly with strong capping inversions. Satellite images show that topographically forced TLWs frequently occur around near-coastal offshore wind farms. Yet current understanding...

In this paper a discrete-time adaptive sliding mode controller for wheeled mobile robots (WMR) is presented. The dynamical model with time-varying mass has been taken into account. The sliding-mode controller has designed on two components, corresponding to angular and position motion, respectively. In order to accomplish the robustness against parameter uncertainties (robot mass and moment of ...

The subject of this paper is the motion control problem of wheeled mobile robots (WMRs) in environments without obstacles. With reference to the popular unicycle kinematics, it is shown that dynamic feedback linearization is an efficient design tool leading to a solution simultaneously valid for both trajectory tracking and setpoint regulation problems. The implementation of this approach on th...