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Recently, coastal city and facilities had many damages by abnormally high waves with climate change. Especially, breakwater systems based on a caisson-type harm damages in Korea because they are located in the outside port. In order to reduce theses damages, new type breakwater systems using interlocking caisson are researched. Generally, caissons of breakwater system were constructed on crushed rock...
Due to the complexity of the mathematical and computational reproduction of collision movements performed by solids objects in the real world, alternately a common approach is to use dynamic models compound of elastic (spring) and dissipative (damper) forces with the theory of rigid bodies. In this paper, the modeling of translational and rotational movement of a solid cube in free fall colliding...
Sea-crossing bridges are exposed to great waves. The wave induced dynamic effect on the structural response of the pier was carefully studied in this paper. The pier of Pingtan Strait railway bridge was taken as the example structure. The modal and dynamic response of the example pier under regular wave loadings were carried out using finite element software USFOS. The dynamic and static response...
Aiming at the security problem of cooperative robots, this paper presents a low cost collision detection algorithm without torque sensors. In this method, the collision can be detected with the sampling torque and the dynamic model. First, the relationship between the output torque and the motion state of the rotating joint of the robot is established according to the Newton Euler method. For the...
Limited travel constrains the widely application of XYZ parallel micro/nano-positioning stage. In this paper, a novel parallel-kinematics micro/nano-positioning stage is proposed with the goal of enlarging the travel range. In order to obtain a large input displacement for actuating the stage, voice coil motors (VCM) are adopted. For a large-travel parallel stage, the cross-axis motion increases the...
This document introduces an air-land robotic platform called Hexapodopter, capable of ground locomotion and vertical take-off and landing (VTOL). For walking, each of the limbs feature three degrees of freedom (DoF); for flying, the thrust is provided by a set of motors and propellers mounted on every limb. Due to its mechanical design, the Hexapodopter can reconfigure the thrust vectors of propellers...
In this paper we present the modeling and simulation of multi-rotors using Spatial Operator Algebra. We develop two dynamic models one where the speeds are in the inertial frame and another where the speeds are vehicle frame. In both the reference point is the center of mass, but the method applies to any point of the vehicle. Besides gravity, the external forces considered include the effect of the...
Kinematic models for skid-steer vehicles based on the locations of instantaneous centers of rotation (ICRs) of treads have been useful for motion control and dead reckoning. These models have typically assumed constant track ICRs because actual ICRs remain in bounded regions. However, this assumption neglects tread ICR variations during motion caused by dynamics. This paper analyzes the effect of...
The compliant control of the robot is widely used in the Human-Machine Interface (HMI) and robot bionics. Because the system and the environment are mutually constrained, when the external environment changes, the control environment of the system will change with it, which deteriorates the control performance of the system. This article solves the problem of how to realize the compliant control with...
The subject studied the relationship between tissue dynamics caused by Quadriceps muscles movement in the knee extension — flexion state and the signal measured from the EMG sensor. Establishment of force and momentum force equations generated by the muscle groups, EMG momentum and voltage equations. Using the Arduino Uno controller, read the signal from the EMG sensor, and save it to an SD memory...
In this paper, we develop haptic based force reflecting interaction interface for bilateral telemanipulation of miniature aerial vehicle. The human-master interface combines shared control term with the reflected force fields mapped by using artificial force field and virtual impedance force field. The shared control for the human-master comprises velocity signals of the with the scaled position of...
Ring Main Unit(RMU) are now widely used to protect MV/LV transformers as well as construct Loop distribution system. It uses SF6 gas for insulation and therefore it can possible to make compact switchgear and maintenance free due to tightness tank structure. It consists of Load Break Switch(LBS), Fuse combination switch and Circuit Breaker(CB) including Vacuum Interrupter(VI). Especially, a RMU using...
The traditional artificial potential field method is suitable for stationary environment. In practical application, mobile robot is in a dynamic environment where the target and the obstacles are moving. For the dynamic environment, the relative position and velocity of the moving target with respect to the mobile robot and the mobile robot with respect to the moving obstacles are taken into account...
This paper presents the closed loop teleoperation of a minimal surgery training system using haptic and robot devices. The force tracking performances of system can be improved by using dynamic compensation and fuzzy control. In this system, the master is the 6-DOF haptic device and the slave is the 6-DOF serial robot. The master haptic device provides the trajectories for the slave serial robot throught...
This paper investigates the dynamics of the motion of accelerated observers in Special Relativity (SR) theory. The presented discussion highlights the memristive character of the force dynamics, when velocity takes the role of state variable. Under this state-space representation, both spatial and time components of the four-force exhibit distinct memristive dynamics, with pinched hysteresis loops,...
Simulation of the planar magnetic actuation of ferromagnetic bodies is proposed and experimentally verified in the framework of the system for precise positioning of miniature passive robots with two degrees of freedom. Major goal of presented development is to balance computational effort of the simulation with complexity of computational problem. Proposed methodology is developed for efficient simulation...
This paper is concerned with the modeling of the behavior of railway tracks under a dynamic load of wheel set taking into account the elastic, viscous-elastic and elastic-plastic properties of the interaction region between two solid bodies and elastic anisotropic properties of the top structure of a railway track, which differ in three main directions: along the rails, along the sleepers and vertically...
The analysis of flow data for nano suspensions of barium titanate at different concentrations and shear rates is an important task in the study of the dynamical destruction aggregates or inverse process of self-organization of particles. On the basis of magnitudes estimation of interaction, interface forces and dynamic influences into rotary viscometer, the conditions for the destruction are proposed...
This paper studies on the dynamics model and control method of quad-rotor UAV for research. Firstly analyzes the dynamic characteristic of quad-rotor UAV and establishes the nonlinear dynamics model of quad-rotor UAV; and then applies the PID control to three channels of pitch, roll and yaw based on the established model, and the simulation results show that PID control is effective for the quad-rotor...
Some popular potential field methods to manifest circular formation and collision avoidance are investigated in this paper. By balancing potential force of overall agents in the environment, parameters for attractive repulsive potential field can be determined, especially in free obstacle environment. Furthermore, in the presence of static obstacle in the setting, the other parameters for attractive...
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