Robust Control of Three-Dimensional Compliant Mechanisms

2016 ◽  
Vol 138 (10) ◽  
Author(s):  
Erfan Shojaei Barjuei ◽  
Paolo Boscariol ◽  
Renato Vidoni ◽  
Alessandro Gasparetto
Keyword(s):  
Control Systems ◽  
Position Control ◽  
Compliant Mechanisms ◽  
Mass Density ◽  
Three Dimensional ◽  
Vibration Damping ◽  
Flexible Link ◽  
External Disturbances ◽  
Uncertainty Model ◽  
Open Issues

Position control and vibration damping of flexible-link mechanisms are still challenging open issues in robotics. Finding solutions for these problems can lead to improvement in the operation and accuracy of the manipulators. In this paper, the synthesis of robust controllers based on H∞ loop shaping and μ-synthesis for both position control and vibration damping in a spatial flexible L-shape mechanism with gravity is presented. The design of the controllers is based on the evaluation of an uncertainty model which takes into account a ±20% uncertainty in the elasticity and mass density of the links. The response of each controller is tested also in the presence of external disturbances with the aid of highly accurate numerical simulations; furthermore, a comparison between the robust performances of synthesized controllers is presented in order to show the effectiveness of synthesized control systems.

Image formation analysis of thick biological specimens using three-dimensional power-spectra of through focus series

1994 ◽  
Vol 52 ◽  
pp. 124-125
Author(s):  
Karen F. Han
Keyword(s):  
Inelastic Scattering ◽  
Imaging Techniques ◽  
Mass Density ◽  
Relative Proportion ◽  
Three Dimensional ◽  
Power Spectra ◽  
Image Formation ◽  
Energy Filtering ◽  
Ewald Sphere ◽  
Nonlinear Imaging

The primary focus in our laboratory is the study of higher order chromatin structure using three dimensional electron microscope tomography. Three dimensional tomography involves the deconstruction of an object by combining multiple projection views of the object at different tilt angles, image intensities are not always accurate representations of the projected object mass density, due to the effects of electron-specimen interactions and microscope lens aberrations. Therefore, an understanding of the mechanism of image formation is important for interpreting the images. The image formation for thick biological specimens has been analyzed by using both energy filtering and Ewald sphere constructions. Surprisingly, there is a significant amount of coherent transfer for our thick specimens. The relative amount of coherent transfer is correlated with the relative proportion of elastically scattered electrons using electron energy loss spectoscopy and imaging techniques.Electron-specimen interactions include single and multiple, elastic and inelastic scattering. Multiple and inelastic scattering events give rise to nonlinear imaging effects which complicates the interpretation of collected images.

Ice-Phase Precipitation

2017 ◽  
Vol 58 ◽  
pp. 6.1-6.36 ◽  
Author(s):  
I. Gultepe ◽  
A. J. Heymsfield ◽  
P. R. Field ◽  
D. Axisa
Keyword(s):  
Collection Efficiency ◽  
Numerical Models ◽  
Mass Density ◽  
Three Dimensional ◽  
Phase Precipitation ◽  
Microphysical Parameters ◽  
Mass Size ◽  
Ice Water ◽  
Ice Phase

AbstractIce-phase precipitation occurs at Earth’s surface and may include various types of pristine crystals, rimed crystals, freezing droplets, secondary crystals, aggregates, graupel, hail, or combinations of any of these. Formation of ice-phase precipitation is directly related to environmental and cloud meteorological parameters that include available moisture, temperature, and three-dimensional wind speed and turbulence, as well as processes related to nucleation, cooling rate, and microphysics. Cloud microphysical parameters in the numerical models are resolved based on various processes such as nucleation, mixing, collision and coalescence, accretion, riming, secondary ice particle generation, turbulence, and cooling processes. These processes are usually parameterized based on assumed particle size distributions and ice crystal microphysical parameters such as mass, size, and number and mass density. Microphysical algorithms in the numerical models are developed based on their need for applications. Observations of ice-phase precipitation are performed using in situ and remote sensing platforms, including radars and satellite-based systems. Because of the low density of snow particles with small ice water content, their measurements and predictions at the surface can include large uncertainties. Wind and turbulence affecting collection efficiency of the sensors, calibration issues, and sensitivity of ground-based in situ observations of snow are important challenges to assessing the snow precipitation. This chapter’s goals are to provide an overview for accurately measuring and predicting ice-phase precipitation. The processes within and below cloud that affect falling snow, as well as the known sources of error that affect understanding and prediction of these processes, are discussed.

Electrochemical reactor systems for pollution control and the removal of toxic metals from industrial wastewaters

1988 ◽  
Vol 53 (6) ◽  
pp. 1107-1133 ◽  
Author(s):  
Bernard Fleet
Keyword(s):  
Control Systems ◽  
Pollution Control ◽  
Waste Treatment ◽  
Three Dimensional ◽  
Electrochemical Reactor ◽  
Two Dimensional ◽  
Chemical Waste ◽  
Control Applications ◽  
Recovery Processes ◽  
Key Features

A review of electrochemical reactor systems for the recovery of metals and for pollution control applications is presented. The major engineering factors which influence the design of reactors are evaluated and the key features of two-dimensional and three-dimensional reactor designs are discussed. Some examples of the application of electrochemical reactors to the recovery of metals from dilute solutions are given in the form of case studies, covering both pollution control and resource recovery processes. Finally a comparison is made of the relative technical and economic merits of electrochemical recovery pollution control systems and conventional chemical waste treatment routes.

scholarly journals Measuring the Autocorrelation Function of Nanoscale Three-Dimensional Density Distribution in Individual Cells Using Scanning Transmission Electron Microscopy, Atomic Force Microscopy, and a New Deconvolution Algorithm

2017 ◽  
Vol 23 (3) ◽  
pp. 661-667 ◽  
Author(s):  
Yue Li ◽  
Di Zhang ◽  
Ilker Capoglu ◽  
Karl A. Hujsak ◽  
Dhwanil Damania ◽  
...  
Keyword(s):  
Electron Microscopy ◽  
Density Distribution ◽  
Scanning Transmission Electron Microscopy ◽  
Mass Density ◽  
Three Dimensional ◽  
Force Microscopy ◽  
Statistical Measures ◽  
Atomic Force ◽  
Transmission Electron ◽  
Scanning Transmission

AbstractEssentially all biological processes are highly dependent on the nanoscale architecture of the cellular components where these processes take place. Statistical measures, such as the autocorrelation function (ACF) of the three-dimensional (3D) mass–density distribution, are widely used to characterize cellular nanostructure. However, conventional methods of reconstruction of the deterministic 3D mass–density distribution, from which these statistical measures can be calculated, have been inadequate for thick biological structures, such as whole cells, due to the conflict between the need for nanoscale resolution and its inverse relationship with thickness after conventional tomographic reconstruction. To tackle the problem, we have developed a robust method to calculate the ACF of the 3D mass–density distribution without tomography. Assuming the biological mass distribution is isotropic, our method allows for accurate statistical characterization of the 3D mass–density distribution by ACF with two data sets: a single projection image by scanning transmission electron microscopy and a thickness map by atomic force microscopy. Here we present validation of the ACF reconstruction algorithm, as well as its application to calculate the statistics of the 3D distribution of mass–density in a region containing the nucleus of an entire mammalian cell. This method may provide important insights into architectural changes that accompany cellular processes.

Dynamics Equations of Robots Mounted on Moving Bases

1991 ◽  
Author(s):  
R. W. Toogood
Keyword(s):  
Angular Velocity ◽  
Control Systems ◽  
Linear Acceleration ◽  
Computer Code ◽  
Dynamics Simulation ◽  
Simulation Studies ◽  
Flexible Link ◽  
Paper Briefly ◽  
Simulation Results ◽  
Simplification Techniques

Abstract A number of programs have been developed for the automatic symbolic generation of efficient computer code for the dynamic analysis of serial rigid and flexible link manipulators. Code for both the inverse and the direct dynamics computations can be generated. The symbolic generators allow the robot base to be given an arbitrary linear acceleration anchor angular velocity and acceleration. The efficiency of the generated code is an important consideration for simulation studies and/or implementation in control systems. This paper briefly describes the symbolic generation and simplification techniques. The added computational load due to including the base motion is discussed. Some dynamics simulation results are presented for a 3R rigid link manipulator mounted on an oscillating base, which graphically illustrates the effect of the base movement on the dynamics.

Modeling a Flexible-Link Power Transmission System

1992 ◽  
Author(s):  
Maureen J. Murray ◽  
Thomas R. Canfield
Keyword(s):  
Power Transmission ◽  
Three Dimensional ◽  
Pilot Project ◽  
Rigid Body Dynamics ◽  
Computer Simulation Model ◽  
Flexible Link ◽  
Complex Action ◽  
3 Dimensional ◽  
Track System ◽  
Body Dynamics

Abstract The flexible link and sprocket system of a tracked vehicle was modeled as part of a supercomputing pilot project on a Cray X-MP supercomputer. This computer simulation model utilizes the ADAMS 3-dimensional rigid body dynamics code. Using this ADAMS model of the track system, engineers can simulate the complex action of this three dimensional mechanism, and, through the use of graphics, can illustrate the behavior of the interaction of the components in this track system.

Spatial Kinematic Analysis of Threaded Fastener Assembly

2005 ◽  
Vol 128 (1) ◽  
pp. 116-127 ◽  
Author(s):  
Stephen Wiedmann ◽  
Bob Sturges
Keyword(s):  
Design Space ◽  
Compliant Mechanisms ◽  
Contact Point ◽  
Three Dimensional ◽  
Vertical Movement ◽  
Initial Contact ◽  
Geometric Problem ◽  
Intelligent Sensor ◽  
Contact State ◽  
Contact Points

Compliant mechanisms for rigid part mating exist for prismatic geometries. A few instances are known of mechanisms to assemble screw threads. A comprehensive solution to this essentially geometric problem comprises at least three parts: parametric equations for nut and bolt contact in the critical starting phase of assembly, the possible space of motions between these parts during this phase, and the design space of compliant devices which accomplish the desired motions in the presence of friction and positional uncertainty. This work concentrates on the second part in which the threaded pair is modeled numerically, and contact tests are automated through software. Tessellated solid models were used during three-dimensional collision analysis to enumerate the approximate location of the initial contact point. The advent of a second contact point presented a more constrained contact state. Thus, the bolt is rotated about a vector defined by the initial two contact points until a third contact location was found. By analyzing the depth of intersection of the bolt into the nut as well as the vertical movement of the origin of the bolt reference frame, we determined that there are three types of contacts states present: unstable two-point, quasi-stable two-point, stable three point. The space of possible motions is bounded by these end conditions which will differ in detail depending upon the starting orientations. We investigated all potential orientations which obtain from a discretization of the roll, pitch, and yaw uncertainties, each of which has its own set of contact points. From this exhaustive examination, a full contact state history was determined, which lays the foundation for the design space of either compliant mechanisms or intelligent sensor-rich controls.

An Equivalent-Plane Cross-Coupling Position Control for Contour-Accuracy Improvement in Three-Axis Free-Form Contour Following Tasks

2018 ◽  
Vol 141 (4) ◽  
Author(s):  
Jian-Wei Ma ◽  
De-Ning Song ◽  
Zhen-Yuan Jia ◽  
Wen-Wen Jiang ◽  
Fu-Ji Wang ◽  
...  
Keyword(s):  
Error Control ◽  
Position Control ◽  
Three Dimensional ◽  
Cross Coupling ◽  
Experimental Tests ◽  
Numerical Control ◽  
Free Form ◽  
Contouring Error ◽  
Contour Following ◽  
Better Than

To reduce the contouring errors in computer-numerical-control (CNC) contour-following tasks, the cross-coupling controller (CCC) is widely researched and used. However, most existing CCCs are well-designed for two-axis contouring and can hardly be generalized to compensate three-axis curved contour following errors. This paper proposes an equivalent-plane CCC scheme so that most of the two-axis CCCs or flexibly designed algorithms can be utilized for equal control of the three-axis contouring errors. An initial-value regeneration-based Newton method is first proposed to compute the foot point from the actual motion position to the desired contour with a high accuracy, so as to establish the equivalent plane where the estimated three-dimensional contouring-error vector is included. After that, the signed contouring error is computed in the equivalent plane, thus a typical two-axis proportional-integral-differential (PID)-based CCC is utilized for its control. Finally, the two-axis control commands generated by the typical CCC are coupled to three-axis control commands according to the geometry of the established equivalent plane. Experimental tests are conducted to verify the effectiveness of the presented method. The testing results illustrate that the proposed equivalent-plane CCC performs much better than conventional method in both error estimation and error control.

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