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Food is important to human for supporting our daily lives. Researchers can perceive food properties through investigation of mastication process. The investigation of in-vivo mastication can be time consuming and inefficient as a panel of volunteers is required. Robotic devices can assist as a platform to carry in-vitro simulation of mastication. This paper proposes a plan of developing a masticatory...
An interesting about MAV and a research for flapping wing aero vehicle has been increased. It is required that take-off and landing abilities to lift up a vehicle by flapping motion to achieve a special purpose for flapping wing aero vehicle. An airfoil has to generate lift force more than a weight of the body to work take-off from the ground without additional force. MAV can generate enough lift...
Currently, research on a jumping robot has been actively conducted in the Robotics field. In this paper, we propose a linkage structure of the jumping robot leg. The trajectory and take-off angle are simulated by using a free software, LINKAGE program. Also, we introduced the two types of the propulsion structure.
This paper presents an analysis of effect of external load on hemispherical resonator gyroscope (HRG) feedback control system with state constraint. Firstly, the analytical solution of dynamic equation under multi-electrode excitation is obtained based on dynamic equations of resonator in the second-order resonant state. Through analysis, two main reasons that external load influences feedback control...
The authors have studied a motion generation by a wobbling mass attached in the center of a semicircular-shaped body, and showed that generation of a downward motion on a downhill is possible through 4-DOF 1-input underactuated-system with 1-DOF linkage inside the body. The system is, however, difficult to generate a forward motion on level surface. Currently, the authors set the trajectory of the...
A free-piston engine linear generator system is investigated for use as a high-efficiency generator engine. The system's efficiency depends on its generation and thermal efficiency, and the generation efficiency is degraded at the edge of the expansion stroke when the piston speed is low and the thrust is high. The generation efficiency is thereby improved to 97% using machine coupling control. Furthermore,...
Phononic crystals have attracted intensive research interest for decades since the early 1990s. They exhibit a spatially periodic feature regarding the distribution of physical properties, geometry, boundary conditions, or/and external stimuli, making their wave spectrum quite different from the conventional continuous one, usually with frequency band gaps where waves cannot propagate through them...
This paper investigates the cross-coupling effect of a 3 degrees of freedom magnetic bearing (3-DOF MB) using the magnetic circuit method comprehensively. The EMF of X-axis (or Y-axis) coil induced by the current variation Eix (Eiy) can vary in a range of up to 14.7% due to the cross-coupling caused by Z-axis current. Moreover, the X-axis (or Y-axis) force characteristics and stiffnesses are significantly...
With the high power density and the simple structure, complementary and modular linear flux-switching permanent magnet (CMLFSPM) motor is especially suitable for urban rail transit application. A high dynamic performance of the system is significant in transportation system. Compared to the flux-oriented control, the Direct Thrust Control (DTC) method has fast torque response and is scarcely influenced...
The thrust and levitation force of the long stator linear synchronous motor (LSLSM) are key points to evaluate the performance of the maglev train. However, it is not easy to be achieved due to the non-linear and dynamic coupling characteristics between thrust and levitation force. In this paper, the finite element analysis model of long stator linear synchronous motor is built for analyzing the thrust...
This paper investigates methods of magnet mass reduction in linear flux switching permanent magnet (LFSPM) machines by introducing tapered consequent poles. Based on the finite element analysis (FEA) three different models are designed, investigated and compared. The obtained results indicate that by adopting the proposed tapered ferromagnetic poles a considerable saving of material cost and weight...
In order to convert more vortex-induced vibration energy into electricity, a piezoelectric energy harvesting system using a modified circular cylinder is studied to evaluate its performance in water. The circular cylinder is often used to induce the Karman vortex street. To produce stronger and more regular vortices, a circular cylinder with a slit and concave rear surface is adopted in this paper...
As a kind of green energy, the wave energy exhibits high energy density, abundant global reserves, extensive application and high predictability. To this application, the direct driven linear motors already become strong candidates in recent year due to the motion feature of waves, therefore a kind PM-assisted reluctance synchronous linear generator (PMRSLG) is proposed in this paper. Based on FEA,...
In this paper, a fuzzy tracking control strategy for a quad-rotor unmanned aerial vehicle (UAV) with strongly coupling is put forward based on the Takagi-Sugeno(T — S) fuzzy error model. Firstly, The quad-rotor system is divided into altitude subsystem, position subsystem and attitude subsystem, selecting appropriate premise variables, the attitude, altitude and position T — S fuzzy error models are...
Aiming at the tracking demands of the subway train to desired operation curve, an decentralized model predictive control algorithm (EDMPC) based on extended state observer (ESO) is proposed for automatic train operation (ATO) system so as to solve the problem that conventional decentralized model predictive control (DMPC) cannot process. Firstly, a train multi-point model is established, based on...
China is one of the important rocky desertification regions, and this paper mainly study the karst mountainous area in southern part of Yunnan Province. Under the influence of climatic changes and human activities, the rocky decertified areas have experienced positive or negative phases in recent 50 years in south Yunnan. In this paper, based on the classification type and synthetically land-scape...
Cross-axis coupling is an important motion error source of parallel mechanism. This issue poses a challenge on large range XY compliant nanomanipulating systems to achieve the desired motion quality. In this work, the repetitive controller is utilized to track periodic inputs. Also the cross-axis coupling of the XY parallel mechanism is treated as an equivalent disturbance in each axis, and the equivalent...
The dual-drive H gantry is widely used in many industrial processes that require high precision Cartesian motion. The conventional rigid-link version suffers breaking down of joints if any de-synchronization between the two carriages occurs. To prevent above potential risk, a novel biaxial gantry with flexure-links is designed to allow a small rotation angle of the cross-arm. Nevertheless, the chattering...
The authors showed that an underactuated locomotion robot can generate a stable forward motion on downhill by utilizing the effects of sliding and wobbling. It was, however, difficult to generate forward motion on level surface. Our next research objective is therefore achieving stable motion generation on slippery level surface. It is being developed that a new type of the robot utilizing wobbling...
This paper presents a highly integrated underactuated anthropomorphic finger with three joints and two DOFs using a novel coupled-adaptive linkage mechanism. The finger has two main motion modes: coupled motion in free space and self-adaptive motion when contacting with the object. Compared with conventional prosthetic finger, the combination of these two motion modes improves the anthropomorphic...
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