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Conference on Electroactive Polymer Actuators and Devices (EAPAD) 2007

作者： Takagi, Kentaro Nakabo, Yoshihiro Luo, Zhi-Wei Asaka, Kinji Nagoya Univ Chikusa Ku Nagoya Aichi 4648603 Japan BMC RIKEN Moriyama Ku Nagoya Aichi 4630003 Japan AIST Tsukuba Ibaraki 3058501 Japan Kobe Univ Kobe Hyogo 6578501 Japan AIST Ikeda Osaka 5638577 Japan

ISBN: (纸本)9780819466457

From the observation of the measured frequency response, the electrical impedance of IPMC has the characteristics of a distributed parameter system. Especially in the case of TEA ion, we found that the frequency response cannot be approximated by a simple ideal capacitor or even by low-order transfer functions. In this study, we discuss a black-box circuit modeling of the electrical system of IPMC from the point of view of the frequency response. We employ some models whose transfer functions are not rational. One of such models is a distributed circuit (transmission line). Another is a black-box circuit model with a distributed parameter element (constant phase element). Both transfer functions consist of square root of W. In the experiment, the electrical impedance of an IPMC (gold plated Nafion) is measured under some conditions such as electrode clamp sizes and two cation species, Na ion and TEA ion. Froi.-n the result, we found that the electrode clamp condition less affects the measured impedance. However, we observed that the impedance highly depends on the cation species. From the experimental frequency response, the parameters of the model are identified. Larger resistance and smaller capacitive element are identified in TEA case than those in Na case. The identified parameters are consistent with the physical intuition that TEA ion movement is slower than Na ion.

关键词： ionic polymer-metal composite impedance frequency response distributed parameter system

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Variable structure control of flexible manipulator based on distributed parameter model

Variable structure control of flexible manipulator based on ...

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IEEE International Conference on Automation and Logistics

作者： Cao, Xiaotao Li, Yuanchun Jilin Univ Dept Control Sci & Engn Changchun 130025 Peoples R China

ISBN: (纸本)9781424415304

In this paper, a new sliding mode variable structure control method is proposed based upon the distributed parameter model of flexible manipulator, and the stabilization problem of the system with parameter uncertain and disturbance is resolved. The variable structure controller is designed by use of the Lyapunov function method, and the sliding surface is designed as a linear combination of rotation angle, rotation angle velocity and root strain of flexible manipulator. The asymptotic stable of the closed-loop system is proved using the semigroup of linear operator and LaSalle invariance principle. Simulation results are presented to validate the design.

关键词： flexible manipulator distributed parameter system semigroup LaSalle's invariance principle

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Research on state estimation of oil pipeline considering adaptive extended Kalman filtering

Research on state estimation of oil pipeline considering ada...

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IEEE International Conference on Mechatronics and Automation

作者： Gong, Jing Cai, Jian Li, Xiaoping Song, Shengkui China Univ Petr Beijing Key Lab Urban Oil & Gas Distribut Technol Beijing 102249 Peoples R China Xuzhou Airforce Coll Dept Aviat Oil & Mat Xuzhou 221006 Peoples R China

ISBN: (纸本)9781424408276

The control equation of transient flow on oil pipeline was discretized. Based on extended Kalman filtering, the robust adaptive Kalman filter was designed with fictitious noise compensation method. The input and output vector of the distributed parameter system (DPS) were created to observe pressures at inlet, outlet and at the middle of the pipeline. The pressures and the flow of pipe sections were estimated by the filter. By means of an example, the errors between the measured values and the estimated values of the mid point on the oil pipeline were compared. The results show that the iteration rate is quicker and the errors are controlled within 3%. This, in turns, can offer a good scheme for monitoring control and operation of the oil pipeline.

关键词： adaptive pipeline state estimation extended Kalman filtering distributed parameter system

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Passivity of flexible master - Slave manipulator

Passivity of flexible master - Slave manipulator

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Annual Conference on the Society-of-Instrument-and-Control-Engineers

作者： Ukai, Hiroyuki Morita, Yoshifumi Mori, Takahiro Nagoya Inst Technol Nagoya Aichi Japan Gifu Natl Coll Tech Gifu Japan

ISBN: (纸本)9784907764289

This paper discusses the passivity of a one degree-of-freedom rigid master - flexible slave (RMFS) manipulator. First of all, nonlinear motion equations of the RMFS system is derived as a distributed parameter system by using the Hamilton's principle. Applied the symmetric bilateral control to the RMFS system, the passivity of the system in the positioning operation is proved by using a Lyapunov function related to the total energy. Moreover, the steady states in pushing operation to an environment is discussed, then the passivity of the system in the neighborhood of the desired state is proved.

关键词： master-slave system flexible arm passivity symmetric bilateral control distributed parameter system Laypunov method

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Online identification of thermal properties in a granular-bed

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KAGAKU KOGAKU RONBUNSHU 2007年第1期33卷 43-47页

作者： Cui, Guang-Hui Yoshida, Masatoshi Yamashita, Yoshiyuki Matsumoto, Shigeru Tohoku Univ Dept Chem Engn Aoba Ku Sendai Miyagi 9808579 Japan

To estimate the temperature profiles in a graln-flar-bed heat conduction process, it is important to know tile thcrinal properties accurately. In this paper, online parameter identification of the thermal properties was carried out by using the Extended Kalman Filter. A state space model was derived from the mathematical model of the grAnUlar-bed process by use of finite integral transformation, and the Extended Kalman Filter was used to estimate state variables and parameters simultaneously. The proposed parameter-identification method was applied experimentally to a laboratory scale granular-bed process. By using a small number of temperature measuremonts as observed variables, the Extended Kalman Filter provided accurate parameter identification even in the presence of measurement and system noises.

关键词： process control parameter identification Extended Kalman Filter distributed parameter system heat conduction process

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Variable Structure Control of Flexible Manipulator Based on distributed parameter Model

Variable Structure Control of Flexible Manipulator Based on ...

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2007 IEEE International Conference on Automation and Lofistics

作者： Xiaotao Cao Yuanchun Li Department of Control Science and Engineering Jilin University Changchun 130025 P.R. China

ISBN: (纸本)9781424415304

关键词： Flexible manipulator distributed parameter system Semigroup LaSalle’s invariance principle

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Numerical characterization of distributed dynamic systems using tools of intelligent computing and generalized dimensional analysis

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APPLIED MATHEMATICS AND COMPUTATION 2006年第2期182卷 1021-1039页

作者： Bellamine, F. H. Elkamel, A. Univ Waterloo Dept Chem Engn Waterloo ON N2L 3G1 Canada Natl Inst Appl Sci & Technol Tunis Ctr Urbain N Caracas 1080 Venezuela

The hybrid use of generalized dimensional analysis - shortened to the acronym GDA - and neural networks is a powerful tool that can be employed for the solution of differential equations modeling physical processes. The GDA combines dimensional, inspectional, and also order of magnitude analysis in order to come up with the best scheme to reduce the number of variables in a problem. Its implementation reduces the input variable space, and thus reduces the number of training input vectors needed for model development. This leads to two positive effects: simulation time is reduced and more accuracy is achieved. The method is applied for the solution of sets of partial differential equations describing the performance of petroleum reservoirs. The results obtained prove the effectiveness of this approach when compared to the traditional discretisation simulation schemes. (c) 2006 Elsevier Inc. All rights reserved.

关键词： generalized dimensional analysis distributed parameter system fluid flow in porous media

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New methods for finite element model updating problems

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AIAA JOURNAL 2006年第6期44卷 1310-1316页

作者： Kuo, Yuen-Cheng Lin, Wen-Wei Xu, Shufang Natl Univ Kaohsiung Dept Appl Math Kaohsiung 811 Taiwan Natl Tsing Hua Univ Dept Math Hsinchu 300 Taiwan Peking Univ Sch Math Sci Beijing 100871 Peoples R China

We consider two finite element model updating problems, which incorporate the measured modal data into the analytical finite element model, producing an adjusted model on the (mass) damping and stiffness, that closely matches the experimental modal data. We develop two efficient numerical algorithms for solving these problems. The new algorithms are direct methods that require O(nk(2)) and O(nk(2) + k(6)) flops, respectively, and employ sparse matrix techniques when the analytic model is sparse. Here n is the dimension of the coefficient matrices defining the analytical model, and k is the number of measured eigenpairs.

关键词： Finite Element Modeling Numerical Algorithms Lagrange Multipliers Proportional Damping Boeing distributed parameter system Frequency Response Functions Conjugate Gradient Method Gaussian Elimination Structural Dynamics

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Dynamic shape control of a morphing airfoil using spatially distributed transducers

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2006年第3期29卷 612-616页

作者： Hubbard, J. E., Jr. Univ Maryland Natl Inst Aerosp Dept Aerosp Engn College Pk MD 20742 USA

A space/time transform parameterization is used to model the upper profile section of a morphing airfoil. The parameterization allows for the quantification of morphing spatial performance in terms of a spatial bandwidth. Airfoil morphing from one shape to another allows the system to use-minimal energy during the process. A multivariable response matrix is then formulated for the distributed parameter system, and standard control synthesis tools are applied to achieve a robust dynamic shape controller. The space/time parameterization results in a spatially decoupled system with Fourier coefficients as inputs and orthogonal basis shapes as outputs. A proof-of-concept simulation, which demonstrates the efficacy of a dynamically commanded airfoil profile, is presented.

关键词： distributed parameter system Airfoil Profiles Transducers Shape Functions Smart Materials and Structures Lift to Drag Ratio Robust Multivariable Control Control system Design Structural Damping Frequency Domain

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An analysis of increase of bending response in IPMC dynamics given uniform input

An analysis of increase of bending response in IPMC dynamics...

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Smart Structures and Materials 2006 Conference

作者： Takagi, Kentaro Nakabo, Yoshihiro Luo, Zhi-Wei Mukai, Toshiharu Yamamura, Masanori Hayakawa, Yoshikazu RIKEN Biomimet Control Res Ctr Moriyama Ku Nagoya Aichi 4630003 Japan AIST Tsukuba Ibaraki 3058568 Japan Nagoya Univ Chikusa Ku Nagoya Aichi 4648603 Japan

ISBN: (纸本)0819462217

It is found from the locomotion of snake-like underwater robot using Ionic Polymer-Metal Composite (IPMC) as its actuator that, although we specify the same amplitude of driven voltages to each segmented IPMC unit, the resultant bending amplitudes along the body's progressive waves change from small to large toward the robot's tail. To analyze this phenomenon, which is also observed in locomotions of slender fishes, we discuss the modeling and analysis of bending motions of IPMC actuators using the Euler-Bernoulli beam theory. Eigenfunction expansion technique is used to solve the model of a partial differential equation. The envelope curve can be drawn by the obtained solution, and simulation results reappear the same phenomenon. Deflection of the real robot is measured by video camera and laser beam. Experimental results verifies the validity of the proposed model. parameter identification is also performed with measured data.

关键词： ionic polymer-metal composite underwater robot underwater propulsion snake robot distributed parameter system eigenfunction expansion

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