Accuracy of Discrete Models for the Solution of the Inverse Dynamics Problem for Flexible Arms, Feasible Trajectories

1997 ◽  
Vol 119 (3) ◽  
pp. 396-404 ◽  
Author(s):  
H. C. Moulin ◽  
E. Bayo
Keyword(s):  
High Frequency ◽  
Inverse Dynamics ◽  
Numerical Procedure ◽  
Continuous System ◽  
Continuous Model ◽  
Discrete Models ◽  
Frequency Range ◽  
Model Order ◽  
Inverse Dynamics Problem ◽  
Tip Mass

The inverse dynamics problem for a single link flexible arm is considered. The tracking order of consistent and lumped finite element models is derived and compared with the tracking order of the continuous model when there is no tip-mass. These comparisons show that discrete models fail to identify the tracking order of a modelled continuous system. A frequency domain analysis shows that an increase in the model order extends the well-modelled low-frequency range and, at the same time, increases the inadequacy in the high-frequency range. As a result, inverse dynamics solutions computed with discrete models do not converge to the continuous solution as the model order increases. The use of high-frequency filters allows us to construct a convergent numerical procedure. A conjecture about the tracking order is presented when there is a tip mass. It is shown that the same results are obtained if superposition of modes rather than finite elements is used.

An Impedance-Based Approach for Rods With Shear-Type Damping Layer Treatment

2013 ◽  
Vol 135 (1) ◽  
Author(s):  
P. W. Wang ◽  
D. Q. Zhuang
Keyword(s):  
High Frequency ◽  
Continuous Model ◽  
Damping Coefficient ◽  
System Response ◽  
Traditional Model ◽  
Constrained Layer Damping ◽  
High Frequency Range ◽  
Frequency Range ◽  
Shear Type ◽  
Shear Spring

An impedance-based approach for analyzing an axial rod with shear-type damping layer treatment is proposed. The rod and shear-type damping layer are regarded as two subsystems and both impedances are calculated analytically. The system impedance can be obtained through the impedance coupling between the host rod and the damping layer. The shear-type damping layer is regarded as a shear spring with complex shear modulus. Under the traditional model, the damping coefficient diminishes with the increasing frequency. The paper develops two shear-type damping layer models, including the single degree-of-freedom (SDOF) model and continuous model to predict the behavior of the damping layer. Both damping layer models are compared with the traditional model and the system responses from these models are validated by finite element method (FEM) code COMSOL Multiphysics. Results show that the damping coefficients of both the traditional shear-spring model and SDOF model diminish as the increasing frequency so that the system responses are discrepant with that from COMSOL in the high frequency range. On the other hand, the system response from the continuous model is consistent with that from COMSOL in the full frequency range. Hence, the continuous damping layer model can predict a correct damping coefficient in the high frequency range and this property can be also employed to improve the analysis of the constrained-layer damping treated structures. Finally, the modal loss factor and fundamental frequency of the system with respect to different damping layer thicknesses are presented using the developed approach.

The Dynamic Response of Railway Track to High Frequency Lateral Excitation

1982 ◽  
Vol 24 (2) ◽  
pp. 91-95 ◽  
Author(s):  
S. L. Grassie ◽  
R. W. Gregory ◽  
K. L. Johnson
Keyword(s):  
Experimental Data ◽  
Dynamic Response ◽  
High Frequency ◽  
Continuous Model ◽  
Elastic Support ◽  
Railway Track ◽  
Frequency Range ◽  
Lateral Forces ◽  
Lateral Excitation ◽  
The Web

The dynamic response of railway track to lateral forces is investigated. Experimental data in the frequency range 50–1500 Hz suggest that track laid on wooden sleepers is adequately represented as a beam (the rail) on a damped elastic support (the ballast). For concrete-sleepered track the railhead appears to move significantly on the lateral flexibility of the web, and a simple continuous model is developed from which its lateral dynamic response may be found.

Evaluation of Special Hearing Aids for Deaf Children

1971 ◽  
Vol 36 (4) ◽  
pp. 527-537 ◽  
Author(s):  
Norman P. Erber
Keyword(s):  
Hearing Aids ◽  
High Frequency ◽  
Hearing Aid ◽  
Low Frequency ◽  
Acoustic Stimulation ◽  
Deaf Children ◽  
Frequency Range ◽  
Frequency Limit ◽  
Unpublished Studies ◽  
Published Research

Two types of special hearing aid have been developed recently to improve the reception of speech by profoundly deaf children. In a different way, each special system provides greater low-frequency acoustic stimulation to deaf ears than does a conventional hearing aid. One of the devices extends the low-frequency limit of amplification; the other shifts high-frequency energy to a lower frequency range. In general, previous evaluations of these special hearing aids have obtained inconsistent or inconclusive results. This paper reviews most of the published research on the use of special hearing aids by deaf children, summarizes several unpublished studies, and suggests a set of guidelines for future evaluations of special and conventional amplification systems.

HIGH FREQUENCY OHMIC LOSSES IN TERAHERTZ FREQUENCY RANGE CW KLYNOTRONS

2017 ◽  
Vol 76 (10) ◽  
pp. 929-940 ◽  
Author(s):  
Yu. S. Kovshov ◽  
S. S. Ponomarenko ◽  
S. A. Kishko ◽  
A. A. Likhachev ◽  
S. A. Vlasenko ◽  
...  
Keyword(s):  
High Frequency ◽  
Terahertz Frequency ◽  
Frequency Range ◽  
Terahertz Frequency Range ◽  
Ohmic Losses

scholarly journals Normal form approach in the motion planning of space robots: a case study

2021 ◽  
Author(s):  
Krzysztof Tchoń ◽  
Katarzyna Zadarnowska
Keyword(s):  
Normal Form ◽  
Motion Planning ◽  
Normal Forms ◽  
Inverse Dynamics ◽  
Planning Problem ◽  
Inverse Dynamics Problem ◽  
Velocity Level ◽  
Form Approach ◽  
Space Approach

AbstractWe examine applicability of normal forms of non-holonomic robotic systems to the problem of motion planning. A case study is analyzed of a planar, free-floating space robot consisting of a mobile base equipped with an on-board manipulator. It is assumed that during the robot’s motion its conserved angular momentum is zero. The motion planning problem is first solved at velocity level, and then torques at the joints are found as a solution of an inverse dynamics problem. A novelty of this paper lies in using the chained normal form of the robot’s dynamics and corresponding feedback transformations for motion planning at the velocity level. Two basic cases are studied, depending on the position of mounting point of the on-board manipulator. Comprehensive computational results are presented, and compared with the results provided by the Endogenous Configuration Space Approach. Advantages and limitations of applying normal forms for robot motion planning are discussed.

scholarly journals An Improved Time Integration Method Based on Galerkin Weak Form with Controllable Numerical Dissipation

2021 ◽  
Vol 11 (4) ◽  
pp. 1932
Author(s):  
Weixuan Wang ◽  
Qinyan Xing ◽  
Qinghao Yang
Keyword(s):  
High Frequency ◽  
Integration Method ◽  
Time Integration ◽  
Low Frequency ◽  
Weak Form ◽  
High Accuracy ◽  
Numerical Dissipation ◽  
Frequency Range ◽  
Time Integration Method ◽  
Numerical Damping

Based on the newly proposed generalized Galerkin weak form (GGW) method, a two-step time integration method with controllable numerical dissipation is presented. In the first sub-step, the GGW method is used, and in the second sub-step, a new parameter is introduced by using the idea of a trapezoidal integral. According to the numerical analysis, it can be concluded that this method is unconditionally stable and its numerical damping is controllable with the change in introduced parameters. Compared with the GGW method, this two-step scheme avoids the fast numerical dissipation in a low-frequency range. To highlight the performance of the proposed method, some numerical problems are presented and illustrated which show that this method possesses superior accuracy, stability and efficiency compared with conventional trapezoidal rule, the Wilson method, and the Bathe method. High accuracy in a low-frequency range and controllable numerical dissipation in a high-frequency range are both the merits of the method.

scholarly journals A Mass- and Energy-Conserving Numerical Model for a Fractional Gross–Pitaevskii System in Multiple Dimensions

Mathematics ◽  
2021 ◽  
Vol 9 (15) ◽  
pp. 1765
Author(s):  
Adán J. Serna-Reyes ◽  
Jorge E. Macías-Díaz
Keyword(s):  
Initial Conditions ◽  
Type System ◽  
Continuous System ◽  
Mass Conservation ◽  
Continuous Model ◽  
Manuscript Studies ◽  
Multiple Dimensions ◽  
Negative Constant ◽  
Energy Conserving ◽  
Finite Difference Discretization

This manuscript studies a double fractional extended p-dimensional coupled Gross–Pitaevskii-type system. This system consists of two parabolic partial differential equations with equal interaction constants, coupling terms, and spatial derivatives of the Riesz type. Associated with the mathematical model, there are energy and non-negative mass functions which are conserved throughout time. Motivated by this fact, we propose a finite-difference discretization of the double fractional Gross–Pitaevskii system which inherits the energy and mass conservation properties. As the continuous model, the mass is a non-negative constant and the solutions are bounded under suitable numerical parameter assumptions. We prove rigorously the existence of solutions for any set of initial conditions. As in the continuous system, the discretization has a discrete Hamiltonian associated. The method is implicit, multi-consistent, stable and quadratically convergent. Finally, we implemented the scheme computationally to confirm the validity of the mass and energy conservation properties, obtaining satisfactory results.

scholarly journals Band notched self complementaryultra wideband antenna for wireless applications

2018 ◽  
Vol 7 (2.8) ◽  
pp. 529 ◽  
Author(s):  
Ch Ramakrishna ◽  
G A.E.Satish Kumar ◽  
P Chandra Sekhar Reddy
Keyword(s):  
High Frequency ◽  
Return Loss ◽  
Wide Band ◽  
Ultra Wideband ◽  
Impedance Bandwidth ◽  
Relative Dielectric Permittivity ◽  
Frequency Range ◽  
Ground Structure ◽  
Wireless Applications ◽  
Patch Edge

This paper presents a band notched WLAN self complementaryultra wide band antenna for wireless applications. The proposed antenna encounters a return loss (RL) less than -10dB for entire ultra wideband frequency range except band notched frequency. This paper proposes a hexagon shape patch, edge feeding, self complementary technique and defective ground structure. The antenna has an overall dimensionof 28.3mm × 40mm × 2mm, builton  substrate FR4 with a relative dielectric permittivity 4.4. And framework is simulated finite element method with help of high frequency structured simulator HFSSv17.2.the proposed antenna achieves a impedance bandwidth of 8.6GHz,  band rejected WLAN frequency range 5.6-6.5 GHz with  vswr is less than 2.

scholarly journals A Compact Four-Port Coplanar Antenna Based on an Excitation Switching Reconfigurable Mechanism for Cognitive Radio Applications

2019 ◽  
Vol 9 (15) ◽  
pp. 3157 ◽  
Author(s):  
O ◽  
Jin ◽  
Choi
Keyword(s):  
Cognitive Radio ◽  
High Frequency ◽  
Coplanar Waveguide ◽  
Low Frequency ◽  
Loop Antenna ◽  
Ultra Wideband ◽  
Frequency Range ◽  
Uwb Antenna ◽  
High Isolation ◽  
Loop Antennas

In this paper, we propose a compact four-port coplanar antenna for cognitive radio applications. The proposed antenna consists of a coplanar waveguide (CPW)-fed ultra-wideband (UWB) antenna and three inner rectangular loop antennas. The dimensions of the proposed antenna are 42 mm × 50 mm × 0.8 mm. The UWB antenna is used for spectrum sensing and fully covers the UWB spectrum of 3.1–10.6 GHz. The three loop antennas cover the UWB frequency band partially for communication purposes. The first loop antenna for the low frequency range operates from 2.96 GHz to 5.38 GHz. The second loop antenna is in charge of the mid band from 5.31 GHz to 8.62 GHz. The third antenna operates from 8.48 GHz to 11.02 GHz, which is the high-frequency range. A high isolation level (greater than 17.3 dB) is realized among the UWB antenna and three loop antennas without applying any additional decoupling structures. The realized gains of the UWB antenna and three loop antennas are greater than 2.7 dBi and 1.38 dBi, respectively.

High Frequency Dielectric Response of the Ionic Liquid N-Methyl-N-ethylpyrrolidinium Dicyanamide

2007 ◽  
Vol 60 (1) ◽  
pp. 6 ◽  
Author(s):  
Simon Schrödle ◽  
Gary Annat ◽  
Douglas R. MacFarlane ◽  
Maria Forsyth ◽  
Richard Buchner ◽  
...  
Keyword(s):  
Ionic Liquid ◽  
Dielectric Loss ◽  
Dielectric Relaxation ◽  
High Frequency ◽  
Dielectric Response ◽  
Room Temperature ◽  
Room Temperature Ionic Liquid ◽  
Dielectric Relaxation Spectroscopy ◽  
Frequency Range ◽  
Fast Rotation

A study of the room-temperature ionic liquid N-methyl-N-ethylpyrrolidinium dicyanamide by dielectric relaxation spectroscopy over the frequency range 0.2 GHz ≤ ν ≤ 89 GHz has revealed that, in addition to the already known lower frequency processes, there is a broad featureless dielectric loss at higher frequencies. The latter is probably due to the translational (oscillatory) motions of the dipolar ions of the IL relative to each other, with additional contributions from their fast rotation.

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