Approximate Nonlinear Filters and Deterministic Filter Gains

1972 ◽  
Vol 94 (1) ◽  
pp. 57-63 ◽  
Author(s):  
A. K. Bejczy ◽  
R. Sridhar
Keyword(s):  
Performance Evaluation ◽  
Differential Equations ◽  
Evaluation Method ◽  
Nonlinear Filter ◽  
Nonlinear Filters ◽  
New Method ◽  
Performance Evaluation Method ◽  
And Performance

A simple nonlinear filter construction and performance evaluation method is described and illustrated on several examples by comparing it to more complex nonlinear filter schemes. In the new method, the filter gain is a precomputed, deterministic quantity (possibly a constant) and, the filter’s performance is (approximately) described by deterministic differential equations which can be solved off-line.

Thumb Configuration and Performance Evaluation for Dexterous Robotic Hand Design

2016 ◽  
Vol 139 (1) ◽  
Author(s):  
Hairong Wang ◽  
Shaowei Fan ◽  
Hong Liu
Keyword(s):  
Performance Evaluation ◽  
Inverse Kinematics ◽  
Evaluation Method ◽  
Jacobian Matrix ◽  
Robotic Hand ◽  
Matrix Condition Number ◽  
Acceleration Analysis ◽  
Performance Evaluation Method ◽  
And Performance ◽  
Matrix Condition

The force and/or motion transmissibility and the analyticity of inverse kinematics for a thumb mechanism depend on thumb configuration. This paper presents a general framework for the thumb configuration and performance evaluation in the design of dexterous robotic hand. The thumb configuration is described by the functional analysis of human thumb, and the thumb of robotic hand is generalized into 15 configurations. A performance evaluation method is proposed based on kinetostatic and dynamic dexterity as well as workspace. The kinetostatic dexterity is based on a Jacobian matrix condition number (JMCN). A dynamic dexterity measure is presented via acceleration analysis, which keeps a clear geometric meaning. The proposed method is applied to evaluate the performance of three examples, which cover thumb configurations of most existing dexterous hands. Performance evaluation results demonstrate the effectiveness of the proposed method. Using these results and the proposed performance evaluation method, meaningful design principles are presented to guide the design of the thumb configuration.

Tolerant System Reliability and Performance Evaluation with Imperfect Tests

2013 ◽  
Vol 333-335 ◽  
pp. 1782-1788
Author(s):  
Tao Zeng ◽  
Jie Chen ◽  
Tian Wei Zhang
Keyword(s):  
Performance Evaluation ◽  
System Reliability ◽  
Evaluation Method ◽  
Estimation Method ◽  
Engineering Application ◽  
Performance Degradation ◽  
Online Test ◽  
Performance Evaluation Method ◽  
Fault Mode ◽  
And Performance

The key system which requiring very high levels of reliability often use redundancy to enhance reliability index, e.g. tolerant system. During system operation, tolerant system monitors system state and reconfigures it to realize continuous working with system drawback. Considering the inevitable errors in system online test and the performance degradation, an estimation method for both system reliability and performance is proposed in this paper. Through analyzing the important fault mode in tolerant system, establishing the system reliability model based on k-out-n:G system description, and then considering the imperfect tests and corresponding performance degradation in these process, the reliability and performance evaluation method is given, moreover, the engineering operation flow of this method was established for it. An aircrafts rudder system is taken as an example for engineering application, which shows that this approach is feasible and effective.

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