This paper presents the dynamic modeling of a flexible tail for a robotic fish. For this purpose firstly, the flexible tail was simplified as a slewing beam actuated by a driving moment. The governing equation of the ...
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This paper presents the dynamic modeling of a flexible tail for a robotic fish. For this purpose firstly, the flexible tail was simplified as a slewing beam actuated by a driving moment. The governing equation of the flexible tail was derived by using the Euler-Bernoulli theory. In this equation, the resistive forces were estimated as a term analogous to viscous damping. Then, the modal analysis method was applied in order to derive an analytical solution of the governing equation, by which the relationship between the driving moment and the lateral movement of the flexible tail was described. Finally, simulations and experiments were carried out and the results were compared to verify the accuracy of the dynamic model. It was proved that the dynamic model of a fish robot with a flexible tail fin well explains the real behavior of robotic fish in underwater environment.
In the electromagnetic casting (EMC) technique, an electromagnetic field is imposed by a solenoidal coil and a Lorentz force is generated at a meniscus. Consequently, a smooth cast surface without defects can be expec...
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In the electromagnetic casting (EMC) technique, an electromagnetic field is imposed by a solenoidal coil and a Lorentz force is generated at a meniscus. Consequently, a smooth cast surface without defects can be expected. So far concerning with EMC, the billet casting plant test, the slab casting bench scale test on pilot caster and the numerical simulation have been conducted. Finally the slab casting plant tests with the EMC technique were conducted. The castings were very stable and produced without any major difficulties. The qualities of slab cast were greatly improved by the EMC technique.
This paper presents the dynamic modelling of a flexible tail fin for a robotic fish. First, in this framework, the flexible tail fin was simply modelled as a rotated beam actuated by a time varying moment. Then, the g...
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ISBN:
(纸本)9787900769428
This paper presents the dynamic modelling of a flexible tail fin for a robotic fish. First, in this framework, the flexible tail fin was simply modelled as a rotated beam actuated by a time varying moment. Then, the governing equation of the flexible tail fin was derived by using the Euler-Bernoulli theory. The resistive forces were estimated as a term analogous to viscous damping. Next, the modal analysis method was applied to derive an analytical solution that described a relationship between the applied torque and the lateral movement of the flexible tail fin. Finally, some experiments were carried out to verify the accuracy of the dynamic model.
Tramp elements such as Cu cause a severe hot shortness. However, Cu is the useful alloying element for increasing hardness and improvement of the steel properties and Cu is often added to the steels. Therefore, by mea...
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Tramp elements such as Cu cause a severe hot shortness. However, Cu is the useful alloying element for increasing hardness and improvement of the steel properties and Cu is often added to the steels. Therefore, by means of a steel surface melting technology, hot shortness should be suppressed by the addition of Ni only in the surface layer. After hotrolled, the sheets are sandblasted and checked for surface defects due to hot shortness. There are no defects and steel samples alloyed in the surface layer are very clean. Consequently, steel containing Cu alloyed Ni in the surface layer does not indicate hot shortness at the surface.
The field of serial link manipulators can find great benefit from recently developed analysis and design methods in the area of passive dynamics. This paper first uses a literature review to outline an increasing emph...
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ISBN:
(纸本)9780889869523
The field of serial link manipulators can find great benefit from recently developed analysis and design methods in the area of passive dynamics. This paper first uses a literature review to outline an increasing emphasis in research and development towards greater use of passive dynamic methods. Second, a method extension allowing for passive behavior analysis of serial link manipulators, simulated on a two-link robot, will demonstrate the usefulness of such methods. The extension itself will allow for greater investigation into the passive dynamics of serial link manipulators, allowing for characteristics such as actuator efficiency and overall bandwidth capabilities to be analyzed during force and motion tasks. The information presented in this paper will contribute to the passive dynamic methods available as well as promote further investigation into the field of research.
Postharvest handling of table grape is commonly carried out using multi-scale packages comprised of the main container, inner liner film and pouches holding individual bunch of berries. Total pressure drop through dif...
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Fast Tool Servo (FTS) diamond turning is a promising machining process for fabricating high precision micro-structured surfaces. However, the dynamics of FTS affects its performance and causes form error in the machin...
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Fast Tool Servo (FTS) diamond turning is a promising machining process for fabricating high precision micro-structured surfaces. However, the dynamics of FTS affects its performance and causes form error in the machined surfaces, thus shortening the useful bandwidth of the FTS for precision machining. In this paper, an Integral Sliding Mode control (ISMC) algorithm is proposed to control the FTS in order to achieve the desired closed-loop dynamics. The robustness of the ISMC to disturbance and model uncertainties or variations is ensured by the implementation of disturbance estimation and an integral switching control action. The influence of the FTS dynamics can thereby be minimized by modifying the tool path offline with the inverse of the desired dynamics. Experiments on machining of typical micro-structured surfaces show that the proposed method is effective in reducing the FTS dynamics induced form error in the machined surface.
The main concern of this paper focuses on the accurate estimation of the vehicle states, including the longitudinal, lateral, and vertical velocities (hence, sideslip angle), as well as the roll and pitch angles. With...
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ISBN:
(纸本)9780889868724
The main concern of this paper focuses on the accurate estimation of the vehicle states, including the longitudinal, lateral, and vertical velocities (hence, sideslip angle), as well as the roll and pitch angles. With the input data from the 6D IMU which measures both acceleration and angular velocities of the three axes, the novel merging schemes based on the internally defined concepts of transient state factor, reference selector, and selective integral, that combine the kinematic and model-based observer outputs guarantee robust performance in estimating the vehicle states. Stability of each component of the proposed observer is investigated, and confirmatory assessment of the entire system is arranged via simulation under various conditions, with the aid of Carsim and Matlab/Simulink.
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