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Hydraulic systems used for pitch control of wind turbines: a literature overview

IOP Conference Series: Materials Science and engineering 2018年第4期444卷

作者： R I Pelin P D Bârsănescu I Tiţa 'Gheorghe Asachi' Technical University of Iasi Iasi Romania Mechanical Engineering Mechatronics and Robotics Department 'Gheorghe Asachi' Technical University of Iasi Iasi Romania Fluid Mechanics Fluid Machines and Fluid Power Systems Department 'Gheorghe Asachi' Technical University from Iasi Romania

This paper contains an analysis of some researches regarding hydraulic systems used for pitch control of wind turbines. As is already known pitch control is important for the aerodynamic efficiency of wind turbine influencing the energy capture, pitch angle being an important parameter by its influence on the angle of attack of the wind. This kind of control is also important in order to protect the turbine in the case of high values of the wind speed reducing the extreme loads. In many cases the system used to change pitch is a hydraulic system. Considering the tendencies in using hydraulic systems in wind turbines, some research directions resulted from reviewed scientific articles. In the case of high-power wind turbines, the load on the blade being important, the rotation of the blades around their own axes in order to change the pitch angle supposes great acting forces. Hydraulic systems provide them in reduce size equipment. The blade rotation may be controlled simultaneously, in the case of collective pitch control, or separately for each one of the blades, in the case of individual control of the blades.

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Reliability assessment of linear generator type wave energy converters

Reliability assessment of linear generator type wave energy ...

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2016 International Conference on Applied and Theoretical Electricity, ICATE 2016

作者： Cretu, Alexandru Munteanu, Radu Iudean, Dan Vladareanu, Victor Karaisas, Petros Department of Electrical Engineering Technical University of Cluj-Napoca Cluj-Napoca Romania Department of Robotics and Mechatronics Institute of Solid Mechanics of Romanian Academy Bucharest Romania Department of Electrical Engineering Piraeus University of Applied Sciences Egaleo Greece

ISBN: (纸本)9781467385626

Wave energy is an important renewable source of electricity that can be exploited. The reliability is an important issue for these energy converters due to the fact that they must be installed in harsh environments. The paper presents a reliability analysis of the linear generator type wave energy converters and shows the impact of the environment on the components of these devices. © 2016 IEEE.

关键词： Mean time between failures

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Hybrid acceleration/velocity-based disturbance observer for a quadrotor manipulation system

Hybrid acceleration/velocity-based disturbance observer for ...

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IEEE Conference on Control Technology and Applications (CCTA)

作者： Ahmed Khalifa Mohamed Fanni Toru Namerikawa Department of Mechatronics and Robotics Engineering Egypt-Japan University of Science and Technology Alexandria Egypt Department of System Design Engineering Keio University Yokohama Japan Department of Mechatronics and Robotics Engineering Mansoura University Mansoura Egypt

ISBN: (纸本)9781509007561

Aerial manipulation systems become very attractive for a wide range of applications due to their unique features. However, control of such system is quite challenging due to its high nonlinearities, couplings, and external disturbances. In this paper, a Disturbance Observer (DOb)-based linearization of a quadrotor manipulation system is utilized. The DOb estimates the disturbances and nonlinearities, then compensates them such that one can treat the control problem based on a simple linear control algorithm. However, the current developed DOb schemes in the literature are based on the precise measurement of the acceleration or the estimation of the velocity. Unlike, these methods, we propose a modified DOb, which is based on both the measured linear accelerations and angular velocities that can be obtained directly from the onboard Inertial Measurement Unit (IMU) and encoders. With this technique, the estimation of nonlinearities and disturbances are carried out without the need of estimation acceleration or velocity, and it is model free. The Effectiveness of the proposed technique is verified via numerical simulations.

关键词： Acceleration Velocity measurement Angular velocity Manipulators Mathematical model Control systems

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Design and simulation of a cable-pulley-based transmission for artificial ankle joints

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Frontiers of Mechanical engineering 2016年第2期11卷 170-183页

作者： Huaxin LIU Marco CECCARELLI Qiang HUANG Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing 100081 China Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Ministry of Education Beijing 100081 China Laboratory of Robotics and Mechatronics (LARM) DICeM University of Cassino and South Latium Cassino 03043 Italy Beijing Innovation Center for Intelligent Robots and Systems Beijing 100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 China

In this paper, a mechanical transmission based on cable pulley is proposed for human-like actuation in the artificial ankle joints of human-scale. The anatomy articular characteristics of the human ankle is discussed for proper biomimetic inspiration in designing an accurate, efficient, and robust motion control of artificial ankle joint devices. The design procedure is presented through the inclusion of conceptual considerations and design details for an interactive solution of the transmission system. A mechanical design is elaborated for the ankle joint angular with pitch motion. A multi-body dynamic simulation model is elaborated accordingly and evaluated numerically in the ADAMS environment. Results of the numerical simulations are discussed to evaluate the dynamic performance of the proposed design solution and to investigate the feasibility of the proposed design in future applications for humanoid robots.

关键词： biomimetic designs ankle joints cable-pulleytransmissions multi-body dynamic simulation numericalcharacterization

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An estimation of lithium-ion Battery state of health - Ageing-included modelling and experimental studies

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Diagnostyka 2016年第2期17卷 25-34页

作者： Mroz, Piotr Gorny, Piotr Ekiert, Martyna Uhl, Tadeusz AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Robotics and Mechatronics Mickiewicza 30 Av. Krakow30-059 Poland

In this paper we present a study on Li-Ion Battery (LIB) modelling, including battery ageing profile, as a ground for development of state of health (SoH) prediction and monitoring system. An influence of LIB ageing was included by the mean of ageing module, based on voltage, resistance and capacity characteristics, resulting from preliminary experimental measurements. Our model, based on equivalent circuit model (ECM) and parameter estimation procedure, was implemented in MATLAB software and then validated. The simulation results are used for battery SoH estimation, which may be use in a future to optimize the conditions of LIB cycling and therefore extend the battery lifetime.

关键词： Lithium-ion batteries

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High-precision microinjection of microbeads into C. elegans trapped in a suction microchannel

High-precision microinjection of microbeads into C. elegans ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Masahiro Nakajima Yuki Ayamura Masaru Takeuchi Naoki Hisamoto Strahil Pastuhov Yasuhisa Hasegawa Toshio Fukuda Qiang Huang Center for Micro-nano Mechatronics Nagoya University Nagoya Aichi Japan Department of Micro-Nano Systems Engineering Nagoya University Nagoya Aichi Japan Division of Biological Science Nagoya University Nagoya Aichi Japan Intelligent Robotics Institute Beijing Institute of Technology China Faculty of Science and Engineering Meijo University Nagoya Aichi Japan

This study presents the high-precision microinjection of fluorescent micro-gel beads into Caenorhabditis elegans trapped in a suction microchannel. In our previous works, we demonstrated survival microinjection by a conventional micromanipulation technique. However, the focal planes differed between the tip of the microinjection tool and the target axon inside the C. elegans body. To resolve this problem, we here propose a suction microchannel that traps C. elegans during the microinjection operation. The focal plane of the target nerve axon matches that of the fluorescent microbead in the microinjection tool, enabling high-precision microinjection into the interior of the C. elegans body under a microscopic view. In an experimental evaluation, the positioning accuracy of the injection into C. elegans was within the target accuracy (15 μm). The head-flrst navigation alignment of C. elegans along the microchannel was controlled by electrotaxis. Injection of the fluorescent micro-gel bead into the C. elegans body was quantitatively confirmed by confocal microscopy.

关键词： Microchannels Microinjection Axons Tools Microscopy Fluorescence Silicon

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Analysis of the propagation of ultrasonic waves along isotropic and anisotropic materials using PAMELA portable SHM system 8

Analysis of the propagation of ultrasonic waves along isotro...

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8th European Workshop on Structural Health Monitoring, EWSHM 2016

作者： Etxaniz, Josu Ambrozinski, Lukasz Aranguren, Gerardo Faculty of Engineering Alameda Urquijo s/n 48013 Bilbao Spain Dpt. Robotics and Mechatronics AGH University of Science and Technology Al. Mickiewicza 30 Krakow30-059 Poland

ISBN: (纸本)9781510827936

The size and weight of the SHM systems might turn to be a key issue and it must be considered in some applications, as aeronautics or wind turbines. As a preliminary step to develop new SHM portable systems, the analysis of the propagation of ultrasonic waves is introduced in this paper. The analysis was conducted with an embedded, small, portable, and lightweight wireless electronic unit, named PAMELA. The research was focused on studying the main features of the propagation of Lamb waves through both isotropic and anisotropic materials, as many structures used in the aforementioned applications are made of both materials. The influence of many variables on the propagation of Lamb waves was considered. The paper includes both parts of the research. On the one hand, it includes the methodology to address the analysis of the wave propagation along many materials. On the other hand, it also adds the discussion of the results obtained in the tests, as well as the conclusions and future work of the research.

关键词： Guided electromagnetic wave propagation

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Fire-resistant behaviour of some cellular materials treated with intumescent solutions

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IOP Conference Series: Materials Science and engineering 2018年第3期444卷

作者： O Mocăniţa D L Chicet C Munteanu B Istrate B Oprişan Mechanical Engineering Mechatronics and Robotics Department 'Gheorghe Asachi' Technical University of Iasi Iasi Romania Materials Science and Engineering Materials Science Department 'Gheorghe Asachi' Technical University of Iasi Iasi Romania 'Gr.T. Popa Medicine' University of Iasi Faculty of General Medicine University street nr. 16 Iasi Romania

Cellular materials are a very wide range of materials characterized by a hollow structure. These materials exhibit various thermo-mechanical properties, which recommend them for the creation of ultra-light structures, both singular and as part of complex systems. In this paper we have studied the possibility of providing fire resistance properties of some cellular materials, using them together with intumescent solutions. A good response of these systems to the direct flame exposure tests conducted under laboratory conditions has been observed, which recommends them for further investigations.

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Small spacecraft based multiple near-earth asteroid rendezvous and landing with near-term solar sails and 'now-term'technologies 69

Small spacecraft based multiple near-earth asteroid rendezvo...

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69th International Astronautical Congress: #InvolvingEveryone, IAC 2018

作者： Grundmann, Jan Thimo Bauer, Waldemar Biele, Jens Boden, Ralf Ceriotti, Matteo Cordero, Federico Dachwald, Bernd Dumont, Etienne Grimm, Christian D. HerÄìÃk, David Ho, Tra-Mi Jahnke, Rico Koch, Aaron D. Koncz, Alexander Krause, Christian Lange, Caroline Lichtenheldt, Roy Maiwald, Volker Mikschl, Tobias Mikulz, Eugen Montenegro, Sergio Pelivan, Ivanka Peloni, Alessandro Quantius, Dominik Reershemius, Siebo Renger, Thomas Riemann, Johannes Ruffer, Michael Sasaki, Kaname Schmitz, Nicole Seboldt, Wolfgang Seefeldt, Patric Spietz, Peter SprÃ¶witz, Tom Sznajder, Maciej Tardivel, Simon TÃ³th, Norbert Wejmo, Elisabet Wolff, Friederike Ziach, Christian DLR German Aerospace Center Institute of Space Systems Robert-Hooke-Strasse 7 Bremen28359 Germany DLR German Aerospace Center Space Operations and Astronaut Training - MUSC KÃ¶ln51147 Germany Consultant to DLR Institute of Space Systems Germany University of Glasgow GlasgowG12 8QQ United Kingdom Telespazio-VEGA Darmstadt Germany Faculty of Aerospace Engineering FH Aachen University of Applied Sciences Hohenstaufenallee 6 Aachen52064 Germany Institute for Geophysics and Extraterrestrial Physics Technical University Braunschweig Germany DLR German Aerospace Center Institute of Planetary Research Rutherfordstr. 2 Berlin12489 Germany DLR German Aerospace Center Robotics and Mechatronics Center Wessling82234 Germany Informatik 8 UniversitÃ¤t WÃ¼rzburg Am Hubland WÃ¼rzburg97074 Germany Institute of Physics University of Zielona GÃ³ra Szafrana 4a Zielona GÃ³ra65-069 Poland CNES Future Missions Flight Dynamics 18 avenue E. Belin Toulouse Cedex 931401 France

Physical interaction with small solar system bodies (SSSB) is the next step in planetary science, planetary in-situ resource utilization (ISRU), and planetary defense (PD). It requires a broader understanding of the surface properties of the target objects, with particular interest focused on those near Earth. Knowledge of composition, multi-scale surface structure, thermal response, and interior structure is required to design, validate and operate missions addressing these three fields. The current level of understanding is occasionally simplified into the phrase,â€¥If you've seen one asteroid, you've seen one asteroidâ€¥, meaning that the in-situ characterization of SSSBs has yet to cross the threshold towards a robust and stable scheme of classification. This would enable generic features in spacecraft design, particularly for ISRU and science missions. Currently, it is necessary to characterize any potential target object sufficiently by a dedicated precursor mission to design the mission which then interacts with the object in a complex fashion. To open up strategic approaches, much broader in-depth characterization of potential target objects would be highly desirable. In SSSB science missions, MASCOT-like nano-landers and instrument carriers which integrate at the instrument level to their mothership have met interest. By its size, MASCOT is compatible with small interplanetary missions. The DLR-ESTEC GOSSAMER Roadmap Science Working Groups'studies identified target-flexible Multiple Near-Earth asteroid (NEA) Rendezvous (MNR) as one of the space science missions uniquely feasible with solar sail propulsion. The Solar Polar Orbiter (SPO) study showed the ability to access any inclination, the Displaced-L1 (DL1) mission operates close to Earth, where objects of interest to PD and for ISRU reside. Other studies outline the unique capability of solar sails to provide access to all SSSB, at least within the orbit of Jupiter, and significant progress has been made

关键词： Solar sails

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Time-Varying Fuzzy Logic Controller of Skid-Steering Mobile Robot Based on Lyapunov Stability

Time-Varying Fuzzy Logic Controller of Skid-Steering Mobile ...

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International Conference on mechatronics and Machine Vision in Practice

作者： Fady Ibrahim A. A. Abouelsoud Ahmed M. R. Fath Elbab Mechatronics and Robotics Engineering Department Egypt-Japan University of Science and Technology (E-JUST)

ISBN: (纸本)9781509027651

A kinematic model of a skid-steering mobile robot (SSMR) is analyzed. The influence of relative position between the instantaneous center of rotation and SSMR center of mass is considered in the analysis. Then, a time-varying fuzzy logic controller based on Lyapunov stability criterion is designed. The closed loop system is simulated using Matlab-Simulink on point stabilization from different initial conditions. Results show that the proposed controller reaches almost zero steady state error with smooth trajectory.

关键词： Time-Varying Fuzzy Lyapunov SSMR

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