Robotic Hopper Using Phase Oscillator Controller

2014 ◽  
Author(s):  
Philip New ◽  
Chase Wheeler ◽  
Thomas G. Sugar
Keyword(s):  
Experimental Data ◽  
Phase Angle ◽  
Parametric Oscillator ◽  
Phase Oscillator ◽  
Forcing Function ◽  
Exceptional Stability

The work presented in this paper describes a robotic hopper that uses a bounded energy, phase oscillator controller. It exhibits exceptional stability when given disturbances. The controller uses a phase angle to regulate the forcing function, creating a parametric oscillator. In this paper we include simulated and experimental data for analysis of the hopper.

Forced Response Sensitivity of a Mistuned Rotor From an Embedded Compressor Stage

2015 ◽  
Author(s):  
Fanny M. Besem ◽  
Robert E. Kielb ◽  
Nicole L. Key
Keyword(s):  
Experimental Data ◽  
Forced Response ◽  
Symmetric System ◽  
Response Analysis ◽  
Cfd Simulations ◽  
Forcing Function ◽  
Wear And Tear ◽  
The Individual ◽  
The Impact ◽  
Interblade Phase Angle

The frequency mistuning that occurs due to manufacturing variations and wear and tear of the blades can have a significant effect on the flutter and forced response behavior of a blade row. Similarly, asymmetries in the aerodynamic or excitation forces can tremendously affect the blade responses. When conducting CFD simulations, all blades are assumed to be tuned (i.e. to have the same natural frequency) and the aerodynamic forces are assumed to be the same on each blade except for a shift in interblade phase angle. The blades are thus predicted to vibrate at the same amplitude. However, when the system is mistuned or when asymmetries are present, some blades can vibrate with a much higher amplitude than the tuned, symmetric system. In this research, we first conduct a deterministic forced response analysis of a mistuned rotor and compare the results to experimental data from a compressor rig. It is shown that tuned CFD results cannot be compared directly with experimental data because of the impact of frequency mistuning on forced response predictions. Moreover, the individual impact of frequency, aerodynamic, and forcing function perturbations on the predictions is assessed, leading to the conclusion that a mistuned system has to be studied probabilistically. Finally, all perturbations are combined and Monte-Carlo simulations are conducted to obtain the range of blade response amplitudes that a designer could expect.

scholarly journals Euler Solutions for Transonic Oscillating Cascade Flows Using Dynamic Triangular Meshes

1993 ◽  
Author(s):  
C. J. Hwang ◽  
S. Y. Yang
Keyword(s):  
Experimental Data ◽  
Phase Angle ◽  
Transonic Flow ◽  
Lift Coefficient ◽  
Pressure Coefficient ◽  
Oscillation Amplitude ◽  
Time History ◽  
Present Approach ◽  
Instantaneous Pressure ◽  
Interblade Phase Angle

The modified total-variation-diminishing scheme and an improved dynamic triangular mesh algorithm are presented to investigate the transonic oscillating cascade flows. In a Cartesian coordinate system, the unsteady Euler equations are solved. To validate the accuracy of the present approach, transonic flow around single NACA 0012 airfoil pitching harmonically about the quarter chord is computed first. The calculated instantaneous pressure coefficient distributions during a cycle of motion compare well with the related numerical and experimental data. To further evaluate the present approach involving nonzero interblade phase angle, the calculations of transonic flow around oscillating cascade of two unstaggered NACA 0006 blades with interblade phase angle equal to 180 deg are performed. From the instantaneous pressure coefficient distributions and time history of lift coefficient, the present approach, where a simple spatial treatment is utilized on the periodic boundaries, gives satisfactory results. By using the above solution procedure, transonic flows around oscillating cascade of four biconvex blades with different oscillation amplitudes, reduced frequencies and interblade phase angles are investigated. From the distributions of magnitude and phase angle of the dynamic pressure difference coefficient, the present numerical results show better agreement with the experimental data than those from the linearized theory in most of the cases. For every quarter of one cycle, the pressure contours repeat and proceed one pitch distance in the upward or downward direction for interblade phase angle equal to −90 deg or 90 deg, respectively. The unsteady pressure wave and shock behaviors are observed. From the lift coefficient distributions, it is further confirmed that the oscillation amplitude, interblade phase angle and reduced frequency all have significant effects on the transonic oscillating cascade flows.

scholarly journals Continuous variable entanglement of counter-propagating twin beams

2017 ◽  
Vol 15 (08) ◽  
pp. 1740017 ◽  
Author(s):  
A. Gatti ◽  
E. Brambilla
Keyword(s):  
Phase Angle ◽  
Optical Parametric Oscillator ◽  
Correlation Time ◽  
Photon Number ◽  
Continuous Variable ◽  
Parametric Oscillator ◽  
Single Pass ◽  
Optical Parametric ◽  
First Case

This work describes the continuous variable entanglement of the counter-propagating twin beams generated in a Mirrorless Optical Parametric Oscillator (MOPO) below threshold, encompassing both their quadrature and photon-number correlation. In the first case, a comparison with the single-pass co-propagating geometry outlines a completely different stability of the two sources with respect to the phase-angle. In the second case, stimulated by the critical divergence of the correlation time evidenced by Corti et al., we address the issue of the temporal bandwidth of the intensity squeezing.

Adding and Subtracting Energy to Body Motion: Phase Oscillator

2014 ◽  
Author(s):  
Jason Kerestes ◽  
Thomas G. Sugar ◽  
Matthew Holgate
Keyword(s):  
Phase Angle ◽  
Metabolic Cost ◽  
Oscillatory Behavior ◽  
Body Motion ◽  
Phase Oscillator ◽  
Motion Energy

We are developing methods to add a bounded amount of energy to assist body motion. Energy is added based on the phase angle of the limb to create a “phase oscillator.” The energy is added assisting motion creating an oscillatory behavior. An anti-phase angle can be used to subtract energy from body motion as well. Using a “phase oscillator” controller, a powered hip exoskeleton assisted a runner and demonstrated a reduction in metabolic cost.

A Numerical Investigation of the Response of an Elastically Mounted Rigid Cylinder With Two Degrees of Freedom

2010 ◽  
Author(s):  
Bruno C. Ferreira ◽  
Marcelo A. Vitola ◽  
Juan B. V. Wanderley ◽  
Sergio H. Sphaier ◽  
Carlos A. Levi
Keyword(s):  
Experimental Data ◽  
Phase Angle ◽  
Degrees Of Freedom ◽  
Stokes Equations ◽  
Lift Coefficient ◽  
The Body ◽  
Curvilinear Coordinates ◽  
Two Degrees Of Freedom ◽  
Conservative Scheme ◽  
Rigid Cylinder

The vortex induced vibration (VIV) on a circular cylinder is investigated by the numerical solution of the Reynolds average Navier-Stokes equations. An upwind and Total Variation Diminishing (TVD) conservative scheme is used to solve the governing equations written in curvilinear coordinates and the k–ε turbulence model is used to simulate the turbulent flow in the wake of the body. The cylinder is supported by a spring and a damper and free to vibrate in the transverse and in-line directions. In previous work, numerical results for the amplitude of oscillation, vortex shedding frequency, and phase angle between lift and displacement were compared to experimental data obtained from Khalak and Williamson (1996) to validate the code for VIV simulations in the transverse direction. In the present work, results are obtained for phase angle, amplitude, frequency, and lift coefficient and compared to experimental data from Jauvtis and Williamson (2003) for an elastically mounted rigid cylinder with two degrees of freedom. Differences in the amplitude of oscillation between experimental and numerical data were observed for both direction. It seems that the fluid flow memory effect is an important aspect that should be taken in consideration on numerical simulation to reproduce the experimental results for VIV with 2DOF as pointed out by Moe and Wu [1].

Euler Solutions for Transonic Oscillating Cascade Flows Using Dynamic Triangular Meshes

1995 ◽  
Vol 117 (3) ◽  
pp. 393-400 ◽  
Author(s):  
C. J. Hwang ◽  
S. Y. Yang
Keyword(s):  
Experimental Data ◽  
Phase Angle ◽  
Transonic Flow ◽  
Lift Coefficient ◽  
Pressure Coefficient ◽  
Oscillation Amplitude ◽  
Time History ◽  
Present Approach ◽  
Instantaneous Pressure ◽  
Interblade Phase Angle

The modified total-variation-diminishing scheme and an improved dynamic triangular mesh algorithm are presented to investigate the transonic oscillating cascade flows. In a Cartesian coordinate system, the unsteady Euler equations are solved. To validate the accuracy of the present approach, transonic flow around a single NACA 0012 airfoil pitching harmonically about the quarter chord is computed first. The calculated instantaneous pressure coefficient distribution during a cycle of motion compare well with the related numerical and experimental data. To evaluate further the present approach involving nonzero interblade phase angle, the calculations of transonic flow around an oscillating cascade of two unstaggered NACA 0006 blades with interblade phase angle equal to 180 deg are performed. From the instantaneous pressure coefficient distributions and time history of lift coefficient, the present approach, where a simple spatial treatment is utilized on the periodic boundaries, gives satisfactory results. By using this solution procedure, transonic flows around an oscillating cascade of four biconvex blades with different oscillation amplitudes, reduced frequencies, and interblade phase angles are investigated. From the distributions of magnitude and phase angle of the dynamic pressure difference coefficient, the present numerical results show better agreement with the experimental data than those from the linearized theory in most of the cases. For every quarter of one cycle, the pressure contours repeat and proceed one pitch distance in the upward or downward direction for interblade phase angle equal to −90 deg or 90 deg, respectively. The unsteady pressure wave and shock behaviors are observed. From the lift coefficient distributions, it is further confirmed that the oscillation amplitude, interblade phase angle, and reduced frequency all have significant effects on the transonic oscillating cascade flows.

Estimating the forcing function in a mechanical system by an inverse calibration method

2021 ◽  
pp. 107754632110310
Author(s):  
Chapel Rice ◽  
Jay I Frankel
Keyword(s):  
Experimental Data ◽  
Transfer Function ◽  
Linear Time ◽  
Regularization Parameter ◽  
Calibration Method ◽  
Phase Plane Analysis ◽  
Constant Property ◽  
Vehicle Suspensions ◽  
Linear Time Invariant ◽  
Forcing Function

This article proposes and demonstrates a calibration-based integral formulation for resolving the forcing function in a mass–spring–damper system, given either displacement or acceleration data. The proposed method is novel in the context of vibrations, being thoroughly studied in the field of heat transfer. The approach can be expanded and generalized further to multi-variable systems associated with machine parts, vehicle suspensions, translational and rotational systems, gear systems, etc. when mathematically described by a system of constant property, linear, time-invariant ordinary differential equations. The analytic approach and subsequent numerical reconstruction of the forcing function is based on resolving a parameter-free inverse formulation for the equation(s) of motion. The calibration approach is formulated in the frequency domain and takes advantage of several observations produced by the dimensionality reduction leading to an algebratized system involving an input–output relationship and a transfer function possessing all the system parameters. The transfer function is eliminated in lieu of experimental data, from a calibration effort, thus leading to a reduction of systematic errors. These parameter-free, reduced systematic error aspects are the distinct and novel advantages of the proposed method. A first-kind Volterra integral equation is formed containing only the unknown forcing function and experimental data. As with all ill-posed problems, regularization must be introduced for system stabilization. A future-time technique is instituted for forming a family of predictions based on the chosen regularization parameter. The optimal regularization parameter is estimated using a combination of phase–plane analysis and cross-correlation principles. Finally, a numerical simulation is performed verifying the proposed approach.

LES-Based Scattering Matrix Method for Low-Order Acoustic Network Models

2017 ◽  
Author(s):  
Changjin Yoon ◽  
Owen Graham ◽  
Fei Han ◽  
Kwanwoo Kim ◽  
Katsuo Maxted ◽  
...  
Keyword(s):  
Experimental Data ◽  
Phase Angle ◽  
Traveling Wave ◽  
Matrix Method ◽  
Scattering Matrix ◽  
Acoustic Energy ◽  
Upstream Region ◽  
Downstream Region ◽  
Scattering Matrices ◽  
Scattering Matrix Method

The identification of scattering matrix method is conducted using high fidelity Large Eddy Simulations. From a series of LES results, the scattering matrices of a plain orifice and a lean premixed nozzle are evaluated and compared with the corresponding experimental data. It is confirmed that LES simulations are capable of predicting the acoustic scattering matrix, with some limitations. The magnitude of the scattering matrices imply that the acoustic energy transfer across the orifice and mixer agree fairly well with that of the scattering matrices from the experimental data. Moreover, the phase angle of transmission/reflection elements for the traveling wave in the upstream region consistently follows the experimental trends. The phase angle of transmission/reflection elements for traveling waves in the downstream region, however, shows a significant discrepancy with the experimental measurements. For the direct use of the LES-based scattering matrix method, the accuracy of determination of the phase angle of reflection/transmission of the traveling wave in the downstream region needs further study.

Nonlinear, Phase-Based Oscillator to Generate and Assist Periodic Motions

2017 ◽  
Vol 9 (2) ◽  
Author(s):  
Juan De la Fuente ◽  
Thomas G. Sugar ◽  
Sangram Redkar
Keyword(s):  
Limit Cycle ◽  
Phase Angle ◽  
Trajectory Planning ◽  
Nonlinear Oscillator ◽  
Oscillatory Behavior ◽  
Periodic Motions ◽  
Nonlinear Phase ◽  
Forcing Function ◽  
Line Trajectory ◽  
Bendixson Criterion

Oscillatory behavior is important for tasks, such as walking and running. We are developing methods for wearable robotics to add energy to enhance or vary the oscillatory behavior based on the system's phase angle. We define a nonlinear oscillator using a forcing function based on the sine and cosine of the system's phase angle that can modulate the amplitude and frequency of oscillation. This method is based on the state of the system and does not use off-line trajectory planning. The behavior of a limit cycle is shown using the Poincaré–Bendixson criterion. Linear and rotational models are simulated using our phase controller. The method is implemented and tested to control a pendulum.

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