Modeling and Parameter Identification of a 3D Measurement System Based on Redundant Laser Range Sensors for Industrial Robots.

The low absolute positioning accuracy of industrial robots is one of the bottlenecks preventing industrial robots from precision applications. Kinematic calibration is the main way to improve the absolute positioning accuracy of industrial robots, which greatly relies on three-dimensional (3D) measurement instruments, including laser trackers and pull rope mechanisms. These instruments are costly, and their required intervisibility space is large.

Offline and online parameter estimation of nonlinear systems: Application to a solid oxide fuel cell system.

In this paper, an offline tuning strategy and an online parameter estimation method are exploited to calibrate the solid oxide fuel cell mathematical model. Different to existing offline tuning strategy, the developed strategy is designed in order to tune the model under various operation conditions. First, the particle swarm optimization method combined with the gradient-based search method is applied to tune unknown parameters in the state-space model and the steady-state model for each operation condition.