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This article presents a new water strider-like robot with buoyancy as the supporting force that is inspired by the water strider which can stand, glide and leap on the surface of water. The stroke mechanism of the robot has little disturbance to the water and is favorable for the stability of the water strider-like robot without extra action when it enters and leaves the water surface. Based on Interaction...
In this paper, the stability problem of bilateral tele-operation systems with data sampling and communication time delays is considered. Two buffers are introduced in the bilateral teleoperation control framework to deal with the issue that the information transmitted between the master and slave sides suffer from time-varying delays. The mathematical model of bilateral teleoperation systems based...
In order to reduce the initial disturbance and improve the stability of air defense missile, the missile launching equations of motion are derived and simplified using the method of modal substitution. Based on these equations, the coupled rigid-flexible dynamic modeling is built in the ADAMS software to analyze the dynamic behavior and stability of missile launching process. The results indicate...
In this paper, we study the stabilization of an elastic beam system with axial force and a tip mass. The system is modeled as a Rayleigh beam equation. We propose a boundary feedback control moment to stabilize the closed-loop system. We first present the asymptotic expressions for the eigenpairs of the system and then show that the generalized eigenfunctions form a Riesz basis in the state space...
The problem of active vibration control of weakly damped mechanical structures is potentially unstable modes of vibrations due to the positive feedback for some vibration modes. The paper will discuss the change of positive feedback on the negative one using all-pass discrete-time filters which are arranged in a cascade. The piezoelectric actuator as a source of force is used to damp vibration. It...
Electric vehicles offer the capability to recover energy by electric braking and therefore to extend the range. Due to the dynamic axle load shift during brake applications and corresponding brake force distributions, drive train topologies with single front drive and single rear drive have different potentials with regard to recuperation. The axle load shift of a vehicle is significantly influenced...
In this paper a model for the capacitive ultrasonic transducer is described. The main element of the transducer is a metalized silicon nitride membrane suspended on a rigid support above a heavily doped silicon bulk. The model developed in the project is based on the lumped parameter representation of the membrane, is easy to characterize, and is suitable for small and large signal analyses.
In this Paper, active front steering and direct yaw moment of a vehicle are proposed to be controlled simultaneously to improve its stability. Two structures are used in this control strategy named as the upper and lower levels of control. The adaptive sliding-mode control (SMC) technique is used in the upper-level control in order to generate the corrective steering wheel angle and yaw moment. The...
AWD (All Wheel Drive) clutch is a system that allocates the part of entire driving force with the front wheel drive shaft, among the main power delivered to the rear wheel axle through the electric control of clutch system inside the transfer module. It controls the surface pressure using the change (forward and reverse direction) in the oil flow rate of clutch pack depending on the driving condition,...
Widely varying operating mode dynamics, uncertain parameters and nonlinear behaviour are inherrent characteristics of vehicle suspensions. Mechatronic vehicle suspensions seek to produce improved ride and handling performance by providing active control action that addresses these problems. Inappropriately designed controllers may lead to poor performance or even possible instability. In this work,...
Four-rotor dish-shaped UUV is a new type of equipment for aquaculture to survey water pollution, which can land on the seabed by extending the hydraulic support. In this paper, the instability state of the UUV is defined, and the mathematical model of the instability state is established. Unstructured mesh generation is carried out using Ansys ICEM. Considering the coupling of the UUV between flow...
To instruct the actual engineering application, we use finite element software to establish model and give a series of static analysis on large-span steel tubular truss structure. Both of nonlinear buckling analysis and eigenvalue buckling analysis are adopted by parameter setting of the structure. Then, by linear buckling, geometric nonlinear stability and nonlinear stability analysis we achieve...
This paper addresses bilateral control of a nonlinear teleoperation system with flexible-link slave manipulator. For this purpose, due to the non-minimum phase behavior of flexible-link manipulators, tip position tracking of the slave manipulator is performed based on the output redefinition method. Moreover, to compensate the uncertainties, a robustifying term is considered in the controller. However,...
Teleoperation systems in the medical usage, allows a surgeon to perform a remote distance operation with or without magnification. There is an increasing need to provide telerobots with the ability to interact with unknown and hybrid environments to detect the abnormalities and also performing the diagnostic procedures. In such environments it is challenging to guarantee the whole system stability...
The main purpose of teleoperation in medical usage is to provide technical means to perform a desired task in patient' body. It is important to haptic feedback of sensitive and delicate environment to the surgeon hand's to improve task performance. The Kelvin-Voigt (KV) model for environment, due to physical contradiction is not suitable, but the Hunt-Crossley (HC) model is chosen because of its accuracy...
The paper aims in analysing the performance of a single axis-controlled repulsive type magnetic bearing system. The model of the system is designed using an industry level modelling software Ansys Maxwell. The model designed is a horizontal axis one and the philosophy behind the design principle is that of a passive magnetic bearing system. The model indicates two rotor bodies whose axis of rotation...
The adaptive control of multiple robot manipulators handling a dynamic object motion of which is constrained by the dynamic environment, when object and/or environment parameters are not known in advance, is proposed. It may be implemented when: (i) there is no good understanding of all physical effects incorporated in the multiple robots/object/environment system; (ii) the parameters of the system...
This paper is concerned with the use of active brake systems in order to decrease the rollover risk of heavy vehicles. Since the forward velocity of the vehicle changes in time, the combined yaw-roll dynamic model has a nonlinear structure. Selecting the forward velocity and the so-called normalized lateral load transfer at the rear side as scheduling parameters, a Linear Parameter Varying (LPV) model...
A nonlinear feedback system is designed and analyzed for a surface micromachined resonant accelerometer. For this, a brief illustration of the plant dynamics is given. In the analysis, the periodic signal in the nonlinear feedback loop is obtained by the limit cycle point, which is best approximated via the describing function method. This approach is reasonable in that the describing function method...
A wheel slip controller for ABS brakes is formulated using an explicit constrained LQR design. The controller gain matrices are designed and scheduled on the vehicle speed based on local linearizations. A Lyapunov function for the nonlinear control system is dervied using the Riccati equation solution in order to prove stability and robustness with respect to uncertainty in the road/tyre friction...
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