El objetivo de la tesis ha sido el comprobar a través de los textos de Ozenfant y Le Corbusier como en el purismo existe la voluntad de construir un nuevo sistema y al mismo tiempo constatar como la propuesta de la colonia de Schoenberg analizada a la luz de sus oscitos teóricos sigue idénticos caminos estéticos. El dodecoforismo ha permitido pues iluminar por reflexión la vanguardia plástica.
In this paper two mc-based adaptive control strategies guided to the control of an experimental robot arm are studied and experimented.
The first strategy is based on a self-tuning regulator, and its purpose is to assure that, independently of the frictions and the inertia of the arm, the motion of each joint have not overshoots capable of displacing the piece from its original position (fixed or localized by the sensors) before its manipulation. In this way, the position set-point of each joint is divided in two halves. The arm model is identified during the first half, according to its position and its load. In the second half, the robot arm approaches the piece fast and with no overshoots.
This method is based on the localisation of the closed-loop poles of the set d.c. motor - variable load, by tuning the regulator parameters from the identified poles. Its programation gives a fast samplig period (1 msec. with the mC AIM 65) but on the other hand the quantification levels of the analog to digital and the digital to analog converters can introduce some uncertainty in the robot arm variable parameters.
The second adaptive control strategy here experimented is based on the model following method. This strategy based in the continuous Lyapunov technique, allows the generation of discrete control actions provided that the joint dynamics is practically independent from the arm load and position variations, even in low stability cases (big variations in the arm parameters).
In this paper the behaviour of the two adaptive control strategies is experimented on a d.c. motor drived robot arm, as well as the influence of some non-linear aspects such as the dead-band of the motors, the quantization levels of the converters and the sampling period variations. Finally, a technique based on the addition of random noises with a variance matched to the quantization levels and capable of nullifying the position error in joints with dead-bands is presented.
This paper describes and complements a poster presentation where different algorithms are compared from experimental results. Interest is focused on the robust behavior of simple algorithms used for the motion control of joints in robots.
This paper contains the calculation of the tangential component of the velocity for a model of galaxy with axial symmetry, non stationary state and equatorial symmetry plane, from the postulates and fundamental equations of Chandrasekhar theory, that shows a shift of the maximum for different values of the Z coordinate and the ¿ direction.
Immunity properties in the second level of the polynomial-time hierarchy are considered. An argument of Heller is reformulated and strengthened in order to construct a recursive oracle for which ¿P2-immune sets exist in SP2.
López, R.; Agustí, J.; Cortes, C.; Plaza, E. International Symposium on Methodologies for Intelligent Systems p. 94-112 DOI: 10.1145/12808.12819 Fecha de presentación: 1986-10-22 Presentación de trabajo en congreso
The construction of data bases containing information concerning scientific libraries requires cooperation between experts of different scientific domains. These experts are the source of knowledge that help the librarian in the process of characterizing the documents by means of relevant features, relating them using a thesaurus and generating useful and informative classifications of the documents to facilitate its retrieval. In this work, we describe an implementation based on a knowledge acquisition process that uses a knowledge engineering methodology: Our system helps the expert in a domain, to elicitate the concepts that he uses and to characterize the documents of the domain. The system also helps the librarian in the design of the thesaurus and the classifications.