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Experiments and simulations of the standing wave acoustic field produced by two transducers mounted in contraposition

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Proceedings of Meetings on Acoustics 2017年第1期32卷

作者： Huijuan Dong Longfei Jia Yingzi Guan Jie Zhao 1School of Mechatronics Engineering Harbin Institute of Technology Harbin Hei Longjiang 150001 CHINA dhj@*** 2Chongqing Vocational College of Transportation Chongqing CHINA ***@*** 3School of Astronautics Harbin Institute of Technology Harbin Hei Longjiang 150001 CHINA guanyz@*** 4The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Hei Longjiang 150001 CHINA jzhao@***

Acoustic standing wave levitation transmission technique has been widely used in many research areas. In this work, two Langevin-type piezoelectric transducers’ output are assembled face to face at a certain angle. Each transducer’s output acts as both its radiator and another transducer’s reflector. The authors termed it as contraposition transducer array. Standing acoustic wave in the cavity between the radiator and the reflector is formed when optimizing the angle between the central lines of the two transducers, the distance of the cavity, and the phase differential of the generator being used to excite the two transducers. Accordingly, the object during the acoustic field can be levitated, moved and manipulated. Not only the standing acoustic field pressure is theoretically derived, but also its potential location is Ansys-programmed simulated and illustrated. As a result, the restrictions are detailed which are necessary to form the standing acoustic wave. The corresponding experiments are carried out to demonstrate the proposed method by the authors. Finally, the influences of geometrical parameters and exciting phase differential on the formed acoustic field are numerically simulated.

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A Time-Varying Saturated Synchronous Formation Controller for Nonholonomic Mobile Robots

A Time-Varying Saturated Synchronous Formation Controller fo...

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Asian Control Conference

作者： Ibrahim M. H. Sanhoury Shamsudin H. M. Amin Abdul Rashid Husain Centre of Artificial Intelligence and Robotics Universiti Teknologi Malaysia Control and Mechatronics Engineering Dept Universiti Teknologi Malaysia

ISBN: (纸本)9781479978632

In this paper, a new saturated synchronous controller is proposed for multiple nonholonomic wheeled mobile robots to perform a time-varying formation task. Each robot is controlled to track its desired trajectory, while synchronized its motion with the two neighboring robots. A novel dynamic model of the wheeled mobile robot is derived based on Lagrange method. The Lagrange multipliers of the robot are determined based on the input torques and the robot's velocities. The dynamic model is divided into translational and rotational model. A saturated synchronous translational controller is proposed to guarantee the asymptotic stability of both position and synchronization errors. A rotational controller is developed such that each robot always oriented towards its desired position. A simulation results verified the efficiency of the proposed saturated synchronous controller in the formation tasks.

关键词： Formation control Multiple mobile robots Synchronization Dynamic model Lagrange multipliers Saturation

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Robust MIMO control for interconnected DC motors 8

Robust MIMO control for interconnected DC motors

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8th IFAC Symposium on Robust Control Design, ROCOND 2015

作者： Hypiusová, M. Kajan, S. Kozák, Š. Institute of Automotive Mechatronics Faculty of Electrical Engineering and Information Technology Slovak University of Technology Ilkovičova 3 Bratislava812 19 Slovakia Institute of Robotics and Cybernetics Faculty of Electrical Engineering and Information Technology Slovak University of Technology Ilkovičova 3 Bratislava812 19 Slovakia

The paper deals with the robust controller design using conventional approaches (Small Gain Theory, Equivalent Subsystems Method), and advanced robust genetic method for uncertain MIMO systems. Decentralised robust controllers designed using the Small Gain Theory (SGT) ensure robust stability for additive, input/output multiplicative uncertainties;the Equivalent Subsystems Method (ESM) guarantees the required performance in terms of phase margin and settling time for input/output multiplicative uncertainties. The genetic algorithm is based on optimisation procedure, where the cost function to be minimized comprises the closed-loop simulation of the controlled MIMO process and evaluation of a selected performance index. Using this approach, the PID controller parameters were optimised to obtain the required behaviour of the controller process. Practical implementation and comparison of the proposed methods are verified and tested on a real process - two interconnected DC motors with varying parameters. © 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Genetic algorithms

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Comparative Vibration Analysis Of A Slender Beam In Gravity Compensation Test And Zero-Gravity Environment

Comparative Vibration Analysis Of A Slender Beam In Gravity ...

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2015 International Conference on Fluid Power and mechatronics

作者： Mo Lidong Vitalii Morkovin Zhen Liu Haibo Gao GuanXin Chi National Key Laboratory of Robotics and System(Harbin Institute of Technology) School of Mechatronics Engineering Harbin Institute of Technology

The Space Station mission require an exhaustive engineering study before a manned mission can be put into space. Since the dynamic behavior of an entire assembly cannot be tested on earth, computer models are used as an engineering tool to be able to predict what might happen in space. The main goal of this research is to find a new mathematical model to calculate the first natural frequency of a slender beam in gravity compensation test and in zero-gravity environment. It means that the model should work correctly on the ground and in space. It can help engineers understand the behavior of a beams in space. Theoretical model describes the first natural frequency of a slender beam. The major issues in the beam development are: determine the governing differential equation, obtaining the eigenfunctions from governing equation. These issues apply to both Euler-Bernoulli and energy transfer theories. To get compare analyze for this two environments we are to model the element of Space Station Remote Manipulator System(SSRMS) in gravity compensation test and in zero-gravity environment, using Distributed- Parameter Models use Maple Software. We also use ANSYS Workbench software with normal mode analysis to simulate the beam behavior due to dynamic vibration. In the end, the modern mathematics solution is close to classic model and simulation data. As a result, the modern model can be applied to determine vibrations in gravity compensation test.

关键词： Natural frequency Distributed Parameter Models zero-gravity Gravity compensation test Mode analysis Finite element analysis Maple Ansys Linear vibration

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Modeling paddle-aided stair-climbing for a mobile robot based on eccentric paddle mechanism

Modeling paddle-aided stair-climbing for a mobile robot base...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Yi Sun Yang Yang Shugen Ma Huayan Pu Department of Robotics Ritsumeikan University Shiga Japan School of Mechatronics Engineering and Automation Shanghai University Shanghai China

To gain high mobility on challenging terrains, a mobile robot based on eccentric paddle mechanism (ePaddle) with locomotion versatility has been proposed. In this paper, a paddle-aided stair-climbing motion is presented for this ePaddle-based robot. The robot can roll on the stair as a traditional wheeled vehicle and also can climb up the stair under the help of its paddles. Robot-stair interaction modes are presented and typical feasible postures of the robot in stair-climbing are discussed. Frictional requirements for the robot to hold a desired posture are evaluated by modelling statics of the robot. Analyzed results reveal that two critical scenarios in wheeled mode occur when the front-wheel is at the bottom of the riser, and when the rear-wheel is at the top of the riser, respectively. In contrast, frictional requirements of the paddle-aided stair-climbing postures confirm that the robot can climb up the stair with all feasible postures by touching the stair with the paddle, which verifies the effectiveness of the proposed paddle-aided stair-climbing.

关键词： Mobile robots Wheels Force Friction Vehicles Nose

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Considerations on elliptical failure envelope associated to Mohr-Coulomb criterion

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IOP Conference Series: Materials Science and engineering 2016年第4期145卷

作者： A M Comanici P D Barsanescu 'Gheorghe Asachi' Technical University of Iasi-Romania Department of Mechanical Engineering Mechatronics and Robotics Blvd. Mangeron No. 63 700050 Iasi Romania

Mohr-Coulomb theory is mostly used in civil engineering as it is suitable for soils, rock, concretes, etc., meaning that the theory is generally used for brittle facture of the materials, but there are cases when it matches ductile behaviour also. The failure envelope described by the Mohr-Coulomb criterion is not completely accurate to the real yield envelope. The ductile or brittle behaviour of materials could not be incorporated in a linear envelope suggested by classic stress state theories and so, there have been a number of authors who have refined the notion of yield envelope so that it would fit better to the actual behaviour of materials. The need of a realistic yield envelope comes from the demand that the failure state should be able to be predicted in a fair manner and with as little errors as possible. Of course, certain criteria will be closer to the actual situation, but there is a constant need to unify and refine the limit stress theories in order to avoid problems as defining boundaries of application areas on numerical programs. Mohr-Coulomb's yield envelope is the most used one on programs, can be reduced to Tresca theory when the materials are conducting a ductile behaviour and has a linear simplified form. The paper presents some considerations with respect to the elliptical failure envelope correlated to the Mohr-Coulomb theory. The equations have been rewritten for triaxial situation to describe a more accurate state of stress that is encountered under real conditions in materials. Using the Mohr's circles to define the yield envelope, the calculus has been made in in order to determine the yield stress at tensile tests

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Basic algorithms of adaptive position-path control systems for mobile units

Basic algorithms of adaptive position-path control systems f...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： V. Pshikhopov M. Medvedev B. Gurenko M. Beresnev Department of Electrical Engineering and Mechatronics Southern Federal University Taganrog Russia Research Institute for Robotics Taganrog Russia

Today, mobile objects are finding increasing usage in a wide variety of applications. Robots have been put to use in the air, on the ground and under the sea. Along with this expansion in robot technology, the problem of control and autonomous decision making is an ongoing concern, especially in light of the increasing difficulty of tasks. This study is focused on the algorithms of adaptive control system for mobile objects. The authors examined the application of direct adaptive control with reference to model approaches, in particular the position-path method. Point positioning is discussed, and the authors propose a method for efficiency improvement. Parametric uncertainty and influence of immeasurable disturbances are expected. Basic algorithms for the calculation of controlling forces and moments are synthesized using the position-path control method. The authors propose a structure and algorithms of an adaptive position-path system with a reference model. The synthesis of adaptive regulator and stability analysis of closed-loop system is performed, and an example of regulator synthesis is given. Finally, the authors present simulation results for an autonomous unmanned underwater vehicle equipped with a main engine, nose and hydrodynamic rudders on the tail. Along with this, horizontal and vertical maneuvering devices are presented.

关键词： Adaptation models Zinc Bismuth Nose Artificial intelligence Signal to noise ratio Interference

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LASER reduced graphene on flexible substrate for strain sensing applications: Temperature effect on gauge factor 4

LASER reduced graphene on flexible substrate for strain sens...

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4th International Conference on Materials and Applications for Sensors and Transducers, MAST 2014

作者： Sayed, Sahour Gamil, Mohammed Fath El-Bab, Ahmed M.R. El-Moneim Abd Elmoneim, Ahmed Abd Materials Science and Engineering Department Egypt-Japan University of Science and Technology New Borg El-Arab Alexandria21934 Egypt Mechatronics and Robotics Department Egypt-Japan University of Science and Technology New Borg El-Arab Alexandria21934 Egypt

ISBN: (纸本)9783038354413

New technique is developed to synthesize graphene film on flexible substrate for strain sensing applications. A flexible graphene/Poly-ethylene Terephthalate (PET) strain sensor based on graphene piezoresistivity is produced by a new simple low cost technique. Graphene oxide film on PET substrate is reduced and patterned simultaneously using 2 Watt CO2 LASER beam. The synthesized graphene film is characterized by XRD, FT-IR, SEM, and Raman techniques. Commercial strain gauges are used to predict experimentally the gauge factor (GF) of the graphene film at different values of applied strain. The stability of the graphene film and its GF are studied at different operating temperatures. The fabricated sensor showed high GF of 78 with great linearity and stability up to 60 °C. © 2015 Trans Tech Publications, Switzerland.

关键词： Graphene

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Robust MPC controller design: Infinite prediction horizon 8

Robust MPC controller design: Infinite prediction horizon

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8th IFAC Symposium on Robust Control Design, ROCOND 2015

作者： Hypiusová, M. Veselý, V. Institute of Automotive Mechatronics Faculty of Electrical Engineering and Information Technology Slovak University of Technology Ilkovičova 3 Bratislava812 19 Slovakia Institute of Robotics and Cybernetics Faculty of Electrical Engineering and Information Technology Slovak University of Technology Ilkovičova 3 Bratislava812 19 Slovakia

We present a new technique for the synthesis of a robust model predictive controller with infinite prediction horizon. The proposed controller design approach ensures a parameter-dependent quadratic stability and guaranteed cost for linear polytopic uncertain systems. The proposed design procedure based on BMI or LMI reduces to off-line output feedback controller gain calculation minimizing an upper bound on the "worst case" an objective function. For the case of our approach and input (output) constraints at each sample time step for each input (output) scalar parameter is calculated, which radically decreases the computational load. The controller design is illustrated by examples. © 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Robust control

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Design of a multi-diameter in-line cleaning and fault detection pipe pigging device

Design of a multi-diameter in-line cleaning and fault detect...

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IEEE International Symposium on robotics and Intelligent Sensors (IRIS)

作者： Firas B. Ismail Alnaimi Ali Ahmadian Mazraeh K.S.M. Sahari K. Weria Y. Moslem Center for Advanced Mechatronics and Robotics Power Generation Research Centre College of Engineering Universiti Tenaga Nasional Kajang Selangor MY Center for Advanced Mechatronics and Robotics Power Generation Research Centre College of Engineering Universiti Tenaga Nasional (UNITEN) Kajang Selangor Malaysia

This work presents an innovative approach for the design and development of Pipeline Inspection Gauge (PIG) which can clean / inspect pipes from 6" up to 14" with a simple change of shirts using the latest technologies such as Ultra Sonic Sensors for the pipelines of palm oil, water, and oil/ gas industries through the creation of a simulation tool capable of generating simulated images from pipeline using Arduino Software for highest accuracy and precision inspection to protect the environment and equipment from any unexpected accident. There are several DC motors powered by an installed battery to move the PIG inside the Pipeline. Radio transmitter is used to elongate the distance of investigation by the mean of reduction of the number of individual pigging processes to save time and cost for companies. The DC controller used to control each individual DC motor to rotate synchronizely producing linear movement of The PIG inside the Pipeline. Fluid hammer effect is another factor which has been considered during designing this pig. To avoid such case to occur the design has been revised and several arms have been devised around the robot to maintain the speed and position of pig all the way through the pipeline.

关键词： Robot sensing systems Pipelines Service robots Interference Blades Metals

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