scholarly journals Synthesis and Control of Flexible Systems With Component-Level Uncertainties

2009 ◽  
Vol 131 (5) ◽  
Author(s):  
Peiman G. Maghami ◽  
Kyong B. Lim
Keyword(s):  
Dynamic Models ◽  
System Level ◽  
Flexible Systems ◽  
Robust Method ◽  
Component Level ◽  
Numerical Example ◽  
Combined Structure ◽  
Uncertainty Models ◽  
And Control ◽  
Interface Forces

An efficient and computationally robust method for synthesis of component dynamics is developed. The method defines the interface forces/moments as feasible vectors in transformed coordinates to ensure that connectivity requirements of the combined structure are met. The synthesized system is then defined in a transformed set of feasible coordinates. The simplicity of form is exploited to effectively deal with modeling parametric and nonparametric uncertainties at the substructure level. Uncertainty models of reasonable size and complexity are synthesized for the combined structure from those in the substructure models. In particular, we address frequency and damping uncertainties at the component level. The approach first considers the robustness of synthesized flexible systems. It is then extended to deal with nonsynthesized dynamic models with component-level uncertainties by projecting uncertainties to the system level. A numerical example is given to demonstrate the feasibility of the proposed approach.

Dynamic Infrared System Level Fault Isolation

2003 ◽  
Author(s):  
John A. Naoum ◽  
Johan Rahardjo ◽  
Yitages Taffese ◽  
Marie Chagny ◽  
Jeff Birdsley ◽  
...  
Keyword(s):  
Fault Isolation ◽  
System Level ◽  
System Component ◽  
Component Level ◽  
Ir Imaging ◽  
Non Destructive

Abstract The use of Dynamic Infrared (IR) Imaging is presented as a novel, valuable and non-destructive approach for the analysis and isolation of failures at a system/component level.

System Level Bench Test for Trailing Arm Strength Estimation

2006 ◽  
Author(s):  
Jaychandar Muthu ◽  
Kanak Soundrapandian ◽  
Jyoti Mukherjee
Keyword(s):  
Failure Mode ◽  
Real Life ◽  
Element Model ◽  
Suspension System ◽  
System Level ◽  
Bench Test ◽  
Component Level ◽  
Arm Strength ◽  
Bench Testing ◽  
Nonlinear Finite Element Model

For suspension components, bench testing for strength is mostly accomplished at component level. However, replicating loading and boundary conditions at the component level in order to simulate the suspension system environment may be difficult. Because of this, the component's bench test failure mode may not be similar to its real life failure mode in vehicle environment. A suspension system level bench test eliminates most of the discrepancies between simulated component level and real life vehicle level environments resulting in higher quality bench tests yielding realistic test results. Here, a suspension level bench test to estimate the strength of its trailing arm link is presented. A suspension system level nonlinear finite element model was built and analyzed using ABAQUS software. The strength loading was applied at the wheel end. The analysis results along with the hardware test correlations are presented. The reasons why a system level test is superior to a component level one are also highlighted.

Imitation of Demonstrations Using Bayesian Filtering With Nonparametric Data-Driven Models

2017 ◽  
Vol 140 (3) ◽  
Author(s):  
Nurali Virani ◽  
Devesh K. Jha ◽  
Zhenyuan Yuan ◽  
Ishana Shekhawat ◽  
Asok Ray
Keyword(s):  
Particle Filtering ◽  
Dynamic Models ◽  
Training Data ◽  
Data Driven ◽  
Conditional Density ◽  
Bayesian Filtering ◽  
State Dependent ◽  
State Evolution ◽  
And Control ◽  
Nonparametric Kernel

This paper addresses the problem of learning dynamic models of hybrid systems from demonstrations and then the problem of imitation of those demonstrations by using Bayesian filtering. A linear programming-based approach is used to develop nonparametric kernel-based conditional density estimation technique to infer accurate and concise dynamic models of system evolution from data. The training data for these models have been acquired from demonstrations by teleoperation. The trained data-driven models for mode-dependent state evolution and state-dependent mode evolution are then used online for imitation of demonstrated tasks via particle filtering. The results of simulation and experimental validation with a hexapod robot are reported to establish generalization of the proposed learning and control algorithms.

Fish zoonoses of the tropics: A Review

2021 ◽  
Vol 18 (1) ◽  
pp. 1-12
Author(s):  
K.I. Sunday ◽  
F.B. Ada
Keyword(s):  
Direct Interaction ◽  
System Level ◽  
Zoonotic Infections ◽  
Aquatic Products ◽  
Exposed Individual ◽  
Aquatic Food ◽  
Handling Practices ◽  
The Tropics ◽  
Food Handling Practices ◽  
And Control

The possibilities of pathogens transmitting zoonotic diseases to fish or aquatic environments are dependent on seasons, patients’ contact with fish or fish related environment, nutritional habits and the immune system level of the exposed individual. Consumption of aquatic food is on the increase, and thus explains the answers to the increase in zoonotic contraction cases found in man. Zoonotic infections can be classified into infections caused by: a) direct interaction with infected animals b) consumption of raw or undercooked aquatic products. Pathogens may be natives of the said aquatic environment or may occur as a result of environmental pollution such as the use of fertilizer, human waste or any of the anthropogenic substances. Zoonotic infections can be passed to man through fish via any of the following hosts: Helminths, Bacteria, Protozoa and Arthropods.Nevertheless, once the chemistry and control of zoonoses is understood, putting up measure to adequately address them when necessary will not be challenging. More so, educating the public on the need for prevention, proper cooking of aquatic products, and also a constant reminder of potential dangers are necessary to reinforce proper sea food handling practices. Keywords: Zoonoses, Fish, Effect and Control

Monitoring, Diagnostics, and Prognostics for Robot Tool Center Accuracy Degradation

2018 ◽  
Author(s):  
Guixiu Qiao ◽  
Brian A. Weiss
Keyword(s):  
Health Management ◽  
Control Strategies ◽  
Test Methods ◽  
Component Level ◽  
Data Set ◽  
Root Cause ◽  
Robot Systems ◽  
Robot Performance ◽  
And Control ◽  
Constituent Elements

Over time, robots degrade because of age and wear, leading to decreased reliability and increasing potential for faults and failures; this negatively impacts robot availability. Economic factors motivate facilities and factories to improve maintenance operations to monitor robot degradation and detect faults and failures, especially to eliminate unexpected shutdowns. Since robot systems are complex, with sub-systems and components, it is challenging to determine these constituent elements’ specific influence on the overall system performance. The development of monitoring, diagnostic, and prognostic technologies (collectively known as Prognostics and Health Management (PHM)), can aid manufacturers in maintaining the performance of robot systems by providing intelligence to enhance maintenance and control strategies. This paper presents the strategy of integrating top level and component level PHM to detect robot performance degradation (including robot tool center accuracy degradation), supported by the development of a four-layer sensing and analysis structure. The top level PHM can quickly detect robot tool center accuracy degradation through advanced sensing and test methods developed at the National Institute of Standards and Technology (NIST). The component level PHM supports deep data analysis for root cause diagnostics and prognostics. A reference data set is collected and analyzed using the integration of top level PHM and component level PHM to understand the influence of temperature, speed, and payload on robot’s accuracy degradation.

scholarly journals An ADRC Method for Noncascaded Integral Systems Based on Algebraic Substitution Method and Its Structure

2018 ◽  
Vol 2018 ◽  
pp. 1-10 ◽  
Author(s):  
Zhijian Huang ◽  
Yudong Li ◽  
Yihua Liu ◽  
Wenbo Sui ◽  
Guichen Zhang
Keyword(s):  
Controller Design ◽  
Integral Form ◽  
State Variables ◽  
Control Effect ◽  
Substitution Method ◽  
Integral System ◽  
Numerical Example ◽  
Disturbance Rejection Control ◽  
Integral Systems ◽  
And Control

The Active Disturbance Rejection Control (ADRC) prefers the cascaded integral system for a convenient design or better control effect and takes it as a typical form. However, the state variables of practical system do not necessarily have a cascaded integral relationship. Therefore, this paper proposes an algebraic substitution method and its structure, which can convert a noncascaded integral system of PID control into a cascaded integral form. The adjusting parameters of the ADRC controller are also demonstrated. Meanwhile, a numerical example and the oscillation control of a flexible arm are demonstrated to show the conversion, controller design, and control effect. The converted system is proved to be more suitable for a direct ADRC control. In addition, for the numerical example, its control effect for the converted system is compared with a PID controller under different disturbances. The result shows that the converted system can achieve a better control effect under the ADRC than that of a PID. The theory is a guide before practice. This converting method not only solves the ADRC control problem of some noncascaded integral systems in theory and simulation but also expands the application scope of the ADRC method.

Identifying Critical Connections for the Global Performance of Steel Moment Resisting Frames

2018 ◽  
Vol 763 ◽  
pp. 165-173
Author(s):  
Paul Steneker ◽  
Lydell D.A. Wiebe ◽  
Andre Filiatrault
Keyword(s):  
Local Deformation ◽  
System Level ◽  
Single Type ◽  
Northridge Earthquake ◽  
Component Level ◽  
Moment Resisting Frames ◽  
Global Performance ◽  
Moment Resisting ◽  
Rbs Connections ◽  
Level Performance

The investigations following the unacceptable performance of moment resisting frames (MRFs) in the 1994 Northridge Earthquake led to the development of a variety of alternative ductile connections. Tests have shown that these connections have reliable component-level performance, leading to them being recommended in standards worldwide as pre-qualified for MRFs. Current design practice consists of applying a single type of ductile connection, often the reduced beam section (RBS), uniformly throughout an entire frame. These connections are detailed and inspected to ensure that each connection has a similar minimum deformation capacity throughout the building, regardless of local deformation demands.This paper examines the potential design implications of identifying local areas within a MRF having the greatest joint rotational demands. Once identified, the connections at these locations are deemed critical to the global performance of the frame. First, the collapse analysis of a six-storey MRF with well-detailed RBS connections was conducted to quantify an upper bound system-level performance. Thereafter, a lower bound system-level performance was determined by considering a frame constructed using only connections with a lowered rotational capacity. Subsequent series of analyses were conducted to identify critical locations within the frame where RBS connections must have a high reliable rotational capacity to ensure adequate system-level performance.

scholarly journals Research and development of Q-Baller -- a spherical wheeled robot

2017 ◽  
Author(s):  
◽  
Jiamin Wang
Keyword(s):  
Control System ◽  
Dynamic Models ◽  
Circuit Board ◽  
Embedded Control ◽  
Wheeled Robot ◽  
Dynamics And Control ◽  
Continuous Gain Scheduling ◽  
Machine Interface ◽  
And Control ◽  
And Robotics

The Spherical Wheeled Robot (Ball-Bot) is a family of robots that can maintain balance standing on a ball and use it as its wheel to move around. In recent years, there have been several successful Ball-Bot designs. We attempt to develop a new spherical wheeled robot product named "Q-Baller" to study its dynamics and control system. The Q-Baller has been designed to ahieve the economic and effective prototyping. A detailed dynamic model of the mechatronic system has been established and analyzed. Control studies have been conducted based on the dynamic models, and new control methods has been proposed to realize continuous gain scheduling. Exclusive simulations have been performed to test the performance of the controllers and reference planning. The Q-Baller hardware has been prototyped and functional. Robotic circuit board, human machine interface and embedded control system have also been developed to make up the full robotic system. The Q-Baller prototype will be tested after the system is fully adjusted, and further researches in control and robotics will be conducted in the future.

scholarly journals A Review of Recent Advancements in Offshore Wind Turbine Technology

Energies ◽  
2022 ◽  
Vol 15 (2) ◽  
pp. 579
Author(s):  
Taimoor Asim ◽  
Sheikh Zahidul Islam ◽  
Arman Hemmati ◽  
Muhammad Saif Ullah Khalid
Keyword(s):  
Wind Turbine ◽  
Wind Turbines ◽  
Structural Integrity ◽  
Turbine Blades ◽  
Offshore Wind ◽  
System Level ◽  
Offshore Wind Turbine ◽  
Component Level ◽  
Foundation Design ◽  
Offshore Wind Turbines

Offshore wind turbines are becoming increasingly popular due to their higher wind energy harnessing capabilities and lower visual pollution. Researchers around the globe have been reporting significant scientific advancements in offshore wind turbines technology, addressing key issues, such as aerodynamic characteristics of turbine blades, dynamic response of the turbine, structural integrity of the turbine foundation, design of the mooring cables, ground scouring and cost modelling for commercial viability. These investigations range from component-level design and analysis to system-level response and optimization using a multitude of analytical, empirical and numerical techniques. With such wide-ranging studies available in the public domain, there is a need to carry out an extensive yet critical literature review on the recent advancements in offshore wind turbine technology. Offshore wind turbine blades’ aerodynamics and the structural integrity of offshore wind turbines are of particular importance, which can lead towards system’s optimal design and operation, leading to reduced maintenance costs. Thus, in this study, our focus is to highlight key knowledge gaps in the scientific investigations on offshore wind turbines’ aerodynamic and structural response. It is envisaged that this study will pave the way for future concentrated efforts in better understanding the complex behavior of these machines.

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