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Through and comprehensive tests are necessary to ensure complete stability and reliability of AUV, due to the high risk and consumption of in field testing, onshore testing technology for AUV is proposed. Rudder load simulator plays an important role in the onshore testing of AUV. In this paper, the design and development of a rudder load simulator was discussed. Rudder load calculation method during...
The development and the test of a palm size finless torpedo shaped micro autonomous underwater vehicle (AUV) named Lancelet are presented. The vehicle has a diameter of 60 mm and only weighs 570 g. It has no appendages such as rudders, elevators, external propellers or other unprotected moving surfaces, which might increase the drag of the vehicle and interfere with the underwater obstacles. A novel...
This paper proposes a bilateral control method focusing on the stability and force estimation accuracy for a pair of two-degrees of freedom(DOF) manipulators which have different structures. Bilateral control is a method that controls position and force bidirectionally between master and slave. By using this method, operators can get haptic sensation from the remote environment during teleoperation...
Presenting a coordinated control algorithm that takes into account both electric stability control (ESC) and drive force assisted steering (DFAS) performance. It introduces the correction factor ki of the driving force when driving the power steering, which designed by fuzzy control the factor with the different vehicle attitude and conditions of the rules of change, and finally the basic control...
Dexterous object manipulation requires suitable control of grip force, load force and digit positions. To keep an object stable in the air, force magnitude, force direction and digit positions should be coordinated, producing compensatory torque that could balance the external torque and maintain a minimal object roll. Six males and 6 females enrolled in the study. In the experiment, subjects were...
Due to the great performance in complex and narrow spaces, snake-like robots, especially snake arm robots, have gained increasing attention in recent years. In this paper, a novel cable-driven snake arm robot is proposed. For greater flexibility, the snake arm not only has multiple two-degree-of-freedom joints, but also has telescopic modules that have one degree of freedom. The kinematics and statics...
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...
Nowadays, decreasing birthrate and aging population become to be the serious social problem in Japan. Therefore, needs of assistive devices are more and more increasing. When people use such assistive devices, there is a risk that devices cost user excessive burden. So analysis and evaluation of motions and load of person who uses assistive devices are necessary. In this paper, a model to analyze...
In order to realize the differential function of electric vehicle driven by two rear wheel-hub motors, by following the optimal slip ratio of each wheel and equalizing the slip ratio of both drive wheels as target, a electronic differential control strategy based on terminal sliding mode is proposed. First of all, according to the standard μ-λ curve, the optimal slip ratio of the pavement is determined...
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...
This study investigates the effect of different skewing methods and angles for switched reluctance machines (SRM) having high pole count using multiphysics simulations. A 24/16 SRM is modeled for each skewing method and different skewing angles using 3D electromagnetic finite element analysis (FEA). Mechanical and acoustical analyses are performed to evaluate the effectiveness of different skewing...
A comparison of noise reduction currents in 36-24 and 18-12 switched reluctance motors in all operating region is presented. Radial force profile in these two machines are compared. It is seen that the difference in radial force profile causes different optimized current to reduce the noise in switched reluctance motor. Analysis, simulation, and experimental results are presented to verify the proposed...
This paper describes a simple ripple compensation method of suspension force and torque in a bearingless surface-mounted permanent magnet (SPM) motor with two-phase integrated winding configuration. Only two H-bridges or eight power transistors are used for the proposed topology. The neutral point of each phase is connected to the middle point of the power sources to superimpose the suspension and...
The novel doubly salient slot permanent magnet linear machines (DSSPMLMs) are proposed in this paper. First, the topology and geometric parameters of the DSSPMLMs with 12 slots are introduced, and the corresponding basic operating principle is investigated. Then, feasible slot/pole combinations and winding configurations are further analyzed. To the DSSPMLMs with 12 slots, all structures with 10/11/13/14...
This paper proposes a new family of electric motors based on the concept of an airgap-less device with an internal rotor. The internal flux and therefore electromagnetic torque is maximized because the rotor is allowed to touch the stator. The proposed family of motors are competitive in applications where hydraulic motors are prevalent, i.e., low-speed and high-torque requirements. Furthermore, the...
Permanent magnet Vernier (PMV) machines have attracted more and more attention for their merits of high torque density and simple structure. And principle of electromechanical energy conversion is the most common way to investigate the PMV machine by calculating back EMF and electromagnetic torque. In this paper, a new perspective on the mechanism of PMV machines based on the Maxwell stress tensor...
In this paper, novel mechanical mechanism and control method using SEA are suggested for natural gait pattern and effective gait rehabilitation. Conventional body weight support system (BWS) focuses on static position lifting and has limitation for a subject to constrain natural gait pattern especially in the vertical and medial-lateral movement. To overcome such abnormal gait pattern during BWS rehabilitation,...
In this paper, motion-reproduction system for picking by multiple-DoFs manipulator with a stereo camera is proposed. The conventional motion-reproduction is able to pick different sized objects because of considering force in the control system. However, the conventional system has difficulty in picking the positional changed objects in motion-reproduction. The proposed method compensates the positional...
A novel single-winding bearingless switched reluctance motor with wider rotor teeth (BSRMWRW) is proposed in this article, which can realize the decoupled control of torque and levitation force and thus simplify the motor's control in the starter/generator system. First, the working principles and decoupling characteristic of BSRMWR are explained; Second, the mathematical model of torque and levitation...
The flight of unmanned aerial vehicle (UAV) is vulnerable to various disturbances and faults. In this paper, the small damage of the wing of an unmanned aerial vehicle is taken into consideration. The UAV control framework consists of force loop and torque loop, where the nonlinear disturbance observer (NDO) based dynamic inverse (DI) control and the extended state observer (ESO) based dynamic inverse...
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