Determination and Stability Analysis of Equilibrium Configurations of Objects Suspended From Multiple Aerial Robots

2012 ◽  
Vol 4 (2) ◽  
Author(s):  
Qimi Jiang ◽  
Vijay Kumar
Keyword(s):  
Stability Analysis ◽  
Hessian Matrix ◽  
Polynomial Equation ◽  
Search Algorithms ◽  
Cable System ◽  
Aerial Robots ◽  
Equilibrium Configurations ◽  
Position And Orientation ◽  
The Stability ◽  
Direct Kinematics

This work addresses the problem for determining the position and orientation of objects suspended with n cables from n aerial robots. This is actually the direct kinematics problem of the 3D cable system. First, the problem is formulated based on the static equilibrium condition. Then, an analytic algorithm based on resultant elimination is proposed to determine all possible equilibrium configurations of the planar 4-bar linkage. As the nonlinear system can be reduced to a polynomial equation in one unknown with a degree 8, this algorithm is more efficient than numerical search algorithms. Considering that the motion of a 3D cable system in its vertical planes of symmetry can be regarded as the motion of an equivalent planar 4-bar linkage, the proposed algorithm is used to solve the direct kinematics problem of objects suspended from multiple aerial robots. Case studies with three to six robots are conducted for demonstration. Then, approaches for stability analysis based on Hessian matrix are developed, and the stability of obtained equilibrium configurations is analyzed. Finally, experiments are conducted for validation.

The Direct Kinematics of Objects Suspended From Cables

2010 ◽  
Author(s):  
Qimi Jiang ◽  
Vijay Kumar
Keyword(s):  
Nonlinear System ◽  
Case Studies ◽  
Horizontal Plane ◽  
Regular Polygon ◽  
Polynomial Equation ◽  
Search Algorithms ◽  
Cable System ◽  
Equilibrium Configurations ◽  
Position And Orientation ◽  
Direct Kinematics

This work addresses the problem for determining the position and orientation of an object with regular polygon suspended from n cables with the same length when the n robots form a regular polygon on the horizontal plane. First, an analytic algorithm based on resultant elimination is presented to determine all possible equilibrium configurations of the planar 4-bar linkage. As the nonlinear system can be reduced to a polynomial equation in one unknown with a degree 8, this algorithm is more efficient than numerical search algorithms. Then, considering that the motion of the 3D cable system in its vertical planes of symmetry can be regarded as the motion of an equivalent planar 4-bar linkage, the proposed algorithm is used to solve the direct kinematic problem of objects suspended from multiple cables. Then, case studies with three to six cables are conducted for demonstration. Finally, experiments are conducted for validation.

scholarly journals A Theoretical MHD Model for Extragalactic Jets and its Comparison with the Observations

1990 ◽  
Vol 140 ◽  
pp. 441-442
Author(s):  
P. Pietrini
Keyword(s):  
Stability Analysis ◽  
Equilibrium Model ◽  
Stable Equilibrium ◽  
Point Of View ◽  
Observational Constraints ◽  
Radio Sources ◽  
Equilibrium Configurations ◽  
Extragalactic Jets ◽  
Thermal Confinement ◽  
The Stability

Two aspects of the MHD stationary equilibrium model developed by Chiuderi et al.(1989) to describe extragalactic jets are analyzed and compared with the observational constraints: the global energy flux convected by the cylindrical jet and the ranges of the equilibrium parameters allowed by the stability analysis. In particular, the results obtained from the temporal stability analysis are converted into a spatial point of view. In this context, it is easier to find essentially “stable” equilibrium configurations for shorter jets. In conclusion, the fundamental hypotheses of this model (like thermal confinement and substantial equipartition among the various forms of energy considered) are such that the model turns out to be suitable for the description of class I jets, associated with rather low-power radio sources.

The stability and energetics of corotating uniform vortices

1985 ◽  
Vol 157 ◽  
pp. 95-134 ◽  
Author(s):  
David G. Dritschel
Keyword(s):  
Stability Analysis ◽  
Perturbation Series ◽  
Excess Energy ◽  
Two Dimensional ◽  
Equilibrium Configurations ◽  
New Energy ◽  
Equilibrium Shapes ◽  
New Form ◽  
The Stability ◽  
Energy Quantity

Equilibrium shapes of two-dimensional rotating configurations of uniform vortices are numerically calculated for two to eight corotating vortices. Additionally, a perturbation series is developed which approximately describes the vortex shapes. The equilibrium configurations are subjected to a linear stability analysis. This analysis both confirms existing results regarding point vortices and shows that finite vortices may destabilize via a new form of instability derived from boundary deformations. Finally, we examine the energetics of the equilibrium configurations. We introduce a new energy quantity called ‘excess energy’, which is particularly useful in understanding the constraints on the evolution of unstable near-equilibrium configurations. This theory offers a first glance at nonlinear stability. As an example, the theory explains some features of the merger of two vortices.

Stability Analysis of the Nanjung Water Diversion Twin Tunnels based on Convergence Measurement

2019 ◽  
Vol 1 (1) ◽  
pp. 49-60
Author(s):  
Simon Heru Prassetyo ◽  
Ganda Marihot Simangunsong ◽  
Ridho Kresna Wattimena ◽  
Made Astawa Rai ◽  
Irwandy Arif ◽  
...  
Keyword(s):  
Stability Analysis ◽  
Convergence Rate ◽  
Critical Strain ◽  
Convergence Rates ◽  
Strain Analysis ◽  
Water Diversion ◽  
Tunnel Face ◽  
Tunnel Stability ◽  
The Stability ◽  
Twin Tunnels

This paper focuses on the stability analysis of the Nanjung Water Diversion Twin Tunnels using convergence measurement. The Nanjung Tunnel is horseshoe-shaped in cross-section, 10.2 m x 9.2 m in dimension, and 230 m in length. The location of the tunnel is in Curug Jompong, Margaasih Subdistrict, Bandung. Convergence monitoring was done for 144 days between February 18 and July 11, 2019. The results of the convergence measurement were recorded and plotted into the curves of convergence vs. day and convergence vs. distance from tunnel face. From these plots, the continuity of the convergence and the convergence rate in the tunnel roof and wall were then analyzed. The convergence rates from each tunnel were also compared to empirical values to determine the level of tunnel stability. In general, the trend of convergence rate shows that the Nanjung Tunnel is stable without any indication of instability. Although there was a spike in the convergence rate at several STA in the measured span, that spike was not replicated by the convergence rate in the other measured spans and it was not continuous. The stability of the Nanjung Tunnel is also confirmed from the critical strain analysis, in which most of the STA measured have strain magnitudes located below the critical strain line and are less than 1%.

Stability of bounded rapid shear flows of a granular material

1996 ◽  
Vol 308 ◽  
pp. 31-62 ◽  
Author(s):  
Chi-Hwa Wang ◽  
R. Jackson ◽  
S. Sundaresan
Keyword(s):  
Growth Rate ◽  
Stability Analysis ◽  
Granular Material ◽  
Bulk Density ◽  
Particulate Material ◽  
Dominant Mode ◽  
Marginal Stability ◽  
Sheared Layer ◽  
The Stability ◽  
Unusual Type

This paper presents a linear stability analysis of a rapidly sheared layer of granular material confined between two parallel solid plates. The form of the steady base-state solution depends on the nature of the interaction between the material and the bounding plates and three cases are considered, in which the boundaries act as sources or sinks of pseudo-thermal energy, or merely confine the material while leaving the velocity profile linear, as in unbounded shear. The stability analysis is conventional, though complicated, and the results are similar in all cases. For given physical properties of the particles and the bounding plates it is found that the condition of marginal stability depends only on the separation between the plates and the mean bulk density of the particulate material contained between them. The system is stable when the thickness of the layer is sufficiently small, but if the thickness is increased it becomes unstable, and initially the fastest growing mode is analogous to modes of the corresponding unbounded problem. However, with a further increase in thickness a new mode becomes dominant and this is of an unusual type, with no analogue in the case of unbounded shear. The growth rate of this mode passes through a maximum at a certain value of the thickness of the sheared layer, at which point it grows much faster than any mode that could be shared with the unbounded problem. The growth rate of the dominant mode also depends on the bulk density of the material, and is greatest when this is neither very large nor very small.

A new control approach for a class of linear switched systems with time-varying delay

2021 ◽  
pp. 014233122199272
Author(s):  
Abbas Zabihi Zonouz ◽  
Mohammad Ali Badamchizadeh ◽  
Amir Rikhtehgar Ghiasi
Keyword(s):  
Stability Analysis ◽  
Linear Matrix Inequalities ◽  
Linear Matrix ◽  
Switching Systems ◽  
Time Varying ◽  
Matrix Inequalities ◽  
Time Varying Delay ◽  
Linear Switching Systems ◽  
The Stability ◽  
Varying Delay

In this paper, a new method for designing controller for linear switching systems with varying delay is presented concerning the Hurwitz-Convex combination. For stability analysis the Lyapunov-Krasovskii function is used. The stability analysis results are given based on the linear matrix inequalities (LMIs), and it is possible to obtain upper delay bound that guarantees the stability of system by solving the linear matrix inequalities. Compared with the other methods, the proposed controller can be used to get a less conservative criterion and ensures the stability of linear switching systems with time-varying delay in which delay has way larger upper bound in comparison with the delay bounds that are considered in other methods. Numerical examples are given to demonstrate the effectiveness of proposed method.

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