Dynamics of a Self-Propelling Wheel With Three Eccentric Masses

2000 ◽  
Author(s):  
Tuhin K. Das ◽  
Ranjan Mukherjee
Keyword(s):  
Potential Energy ◽  
Constant Velocity ◽  
Simple Approach ◽  
Constant Acceleration ◽  
Physical Constraints ◽  
Straight Line ◽  
Radial Spokes ◽  
Simulation Results ◽  
The Masses ◽  
Variable Potential

Abstract This paper investigates the dynamics of a rolling disk with three unbalance masses that can slide along radial spokes equispaced in angular orientation. The objective is to design trajectories for the masses that satisfy physical constraints and enable the disk to accelerate or move with constant velocity. The disk is designed to remain vertically upright and is constrained to move along a straight line. We design trajectories for constant acceleration through detailed analysis using a dynamic model. The analysis considers two separate cases; one where the potential energy of the system is conserved, and the other where it continually varies. Whereas trajectories conserving potential energy are limacons, the variable potential energy trajectories are the most general and allow greater acceleration. Following the strategy for constant acceleration maneuvers, we give a simple approach to tracking an acceleration profile and provide simulation results.

Dynamic Analysis of Rectilinear Motion of a Self-Propelling Disk With Unbalance Masses

2000 ◽  
Vol 68 (1) ◽  
pp. 58-66 ◽  
Author(s):  
T. Das ◽  
R. Mukherjee
Keyword(s):  
Potential Energy ◽  
Dynamic Model ◽  
Center Of Mass ◽  
Static Model ◽  
Rectilinear Motion ◽  
Constant Acceleration ◽  
Physical Constraints ◽  
Straight Line ◽  
Radial Spokes ◽  
The Masses

This paper investigates the dynamics of a rolling disk with three unbalance masses that can slide along radial spokes equispaced in angular orientation. The objective is to design trajectories for the masses that satisfy physical constraints and enable the disk to accelerate or move with constant velocity. The disk is designed to remain vertically upright and is constrained to move along a straight line. We design trajectories for constant acceleration, first using a static model, and then through detailed analysis using a dynamic model. The analysis based on the dynamic model considers two separate cases; one where the potential energy of the system is conserved, and the other where it continually varies. Whereas trajectories conserving potential energy are quite similar to those obtained from the static model, the variable potential energy trajectories are the most general. A number of observations related to the system center-of-mass are made with respect to both trajectories. Following the strategy for constant acceleration maneuvers, we give a simple approach to tracking an acceleration profile and provide some simulation results.

Coarse-To-Fine 3D Randomized Hough Transform for Dim Target Detection

2014 ◽  
Vol 519-520 ◽  
pp. 1040-1045
Author(s):  
Ling Fan
Keyword(s):  
Target Detection ◽  
Hough Transform ◽  
Constant Velocity ◽  
Three Dimensional ◽  
Randomized Hough Transform ◽  
Straight Line ◽  
Memory Complexity ◽  
Coarse To Fine

This paper makes some improvements on Roberts representation for straight line in space and proposes a coarse-to-fine three-dimensional (3D) Randomized Hough Transform (RHT) for the detection of dim targets. Using range, bearing and elevation information of the received echoes, 3D RHT can detect constant velocity target in space. In addition, this paper applies a coarse-to-fine strategy to the 3D RHT, which aims to solve both the computational and memory complexity problems. The validity of the coarse-to-fine 3D RHT is verified by simulations. In comparison with the 2D case, which only uses the range-bearing information, the coarse-to-fine 3D RHT has a better practical value in dim target detection.

scholarly journals Research on the Performance of Electric Vehicles in Peak Load Shifting

2014 ◽  
Vol 2014 ◽  
pp. 1-7
Author(s):  
Qingshan Xu ◽  
Yujun Liu ◽  
Maosheng Ding ◽  
Pingliang Zeng ◽  
Wei Pan
Keyword(s):  
Potential Energy ◽  
Electric Vehicles ◽  
Peak Load ◽  
Load Shifting ◽  
Vehicle To Grid ◽  
Capacity Level ◽  
Simulation Results ◽  
The Relationship

Electric vehicles (EVs) are developing remarkably fast these years which makes the technology of vehicle-to-grid (V2G) easier to implement. Peak load shifting (PLS) is an important part of V2G service. A model of EVs’ capacity in V2G service is proposed for the research on PLS in this paper. The capacity is valued in accordance with three types of situations. Based on the model, three different scenarios are suggested in order to evaluate the capacity with MATLAB. The evaluation results indicate that EVs can provide potential energy to participate in PLS. Then, the principle of PLS with EVs is researched through the analysis of the relationship between their power and capacity. The performance of EVs in PLS is also simulated. The comparison of two simulation results shows that EVs can fulfill the request of PLS without intensely lowering their capacity level.

scholarly journals Extended Kalman Filter for Bearings-Only Tracking

2019 ◽  
Vol 8 (6) ◽  
pp. 637-640 ◽  
Keyword(s):  
Kalman Filter ◽  
Extended Kalman Filter ◽  
Constant Velocity ◽  
Target Motion ◽  
Passive Mode ◽  
Crucial Issue ◽  
Straight Line ◽  
Optimal Linear ◽  
Target Motion Analysis ◽  
Line Path

Target tracking using bearings-only measurements in passive mode operation of sonar is a crucial issue of underwater tracking. Target motion in underwater scenario is analyzed using bearings-only measurements and calculating parameters like range, course and speed of the target. This is called Target Motion Analysis (TMA). TMA process is highly non-linear as the measurements chosen are nonlinearly related to the selected target state vector and the traditional, optimal linear Kalman filter will not be appropriate to use. It is presumed that the target is moving in straight line path with constant velocity, so Extended Kalman Filter (EKF) is proposed in this paper. The algorithm is simulated for several scenarios using MATLAB. Monte-Carlo runs are performed to evaluate the capability of the algorithm.

IMM-UKF-TFS Model-based Approach for Intelligent Navigation

2013 ◽  
Vol 66 (6) ◽  
pp. 859-877 ◽  
Author(s):  
M. Malleswaran ◽  
V. Vaidehi ◽  
S. Irwin ◽  
B. Robin
Keyword(s):  
Kalman Filter ◽  
Constant Velocity ◽  
Unscented Kalman Filter ◽  
Interacting Multiple Model ◽  
Multiple Model ◽  
State Variables ◽  
Constant Acceleration ◽  
Positional Accuracy ◽  
Model Based ◽  
Novel Approach

This paper aims to introduce a novel approach named IMM-UKF-TFS (Interacting Multiple Model-Unscented Kalman Filter-Two Filter Smoother) to attain positional accuracy in the intelligent navigation of a manoeuvring vehicle. Here, the navigation filter is designed with an Unscented Kalman Filter (UKF), together with an Interacting Multiple Model algorithm (IMM), which estimates the state variables and handles the noise uncertainty of the manoeuvring vehicle. A model-based estimator named Two Filter Smoothing (TFS) is implemented along with the UKF-based IMM to improve positional accuracy. The performance of the proposed IMM-UKF-TFS method is verified by modelling the vehicle motion into Constant Velocity-Coordinated Turn (CV-CT), Constant Velocity – Constant Acceleration (CV-CA) and Constant Acceleration-Coordinated Turn (CA-CT) models. The simulation results proved that the proposed IMM-UKF-TFS gives better positional accuracy than the existing conventional estimators such as UKF and IMM-UKF.

scholarly journals The Onset Threshold of Cybersickness in Constant and Accelerating Optical Flow

2020 ◽  
Vol 10 (21) ◽  
pp. 7808
Author(s):  
Jiwon Kim ◽  
Taezoon Park
Keyword(s):  
Optical Flow ◽  
Constant Velocity ◽  
Human Subject ◽  
Rotational Axis ◽  
Constant Acceleration ◽  
Severe Nausea ◽  
Particle Field ◽  
Human Subject Experiment ◽  
Experimental Findings ◽  
Subject Experiment

This study investigated the principal translational or rotational axis that evokes the most severe cybersickness by detecting constant velocity and acceleration thresholds on the onset of cybersickness. This human subject experiment with 16 participants used a 3D particle field with movement directions (lateral, vertical, yaw, or pitch) and motion profiles (constant velocity or constant acceleration). The results showed that the threshold of pitch optical flow was suggestively lower than that of the yaw, and the vertical threshold was significantly lower than the lateral. Still, there was no effect of scene movement on the level of cybersickness. In four trials, the threshold increased from the first to the second trial, but the rest remained the same as the second one. However, the level of cybersickness increased significantly between the trials on the same day. The disorientation-related symptoms occurred on the first trial day diminished before the second trial day, but the oculomotor-related symptoms accumulated over the days. Although there were no correlations between the threshold and total cybersickness severity, participants with a lower threshold experienced severe nausea. The experimental findings can be applied in designing motion profiles to reduce cybersickness by controlling the optical flow in virtual reality.

Velocity estimates derived from three‐dimensional seismic data

Geophysics ◽  
1983 ◽  
Vol 48 (11) ◽  
pp. 1486-1497 ◽  
Author(s):  
Kwame Owusu ◽  
G. H. F. Gardner ◽  
Wulf F. Massell
Keyword(s):  
Seismic Data ◽  
Constant Velocity ◽  
Three Dimensional ◽  
Logarithmic Scale ◽  
Model Data ◽  
Reconstruction Process ◽  
Input Field ◽  
Scattering Center ◽  
Straight Line ◽  
The Matrix

A new computer algorithm is described by which velocity estimates can be derived from three‐dimensional (3-D) multifold seismic data. The velocity estimate, referred to as “imaging velocity,” is that which best describes the diffraction hyperboloid due to a scatterer. The scattering center is best imaged when this velocity is used in the reconstruction process. The method is based on the 3-D Kirchhoff summation migration before stack. The implementation consists of two basic phases: (1) differentiating the input field traces and resampling them to a logarithmic time scale, and (2) shifting, weighting, and summing each resampled trace to a range of depth levels also chosen on a logarithmic scale. Peak amplitudes in the resulting image matrix give a time T and depth Z from which velocity is obtained using the relation [Formula: see text] The locus of constant velocity is a slanted straight line in the coordinate system of the matrix. In the usual application of migration for velocity analysis, each input trace of N samples is migrated for each of M constant velocity functions requiring [Formula: see text] moveout shift calculations. In the new method presented here, a constant shift is calculated for a given resampled trace, for each depth into which it is summed. This reduces the number of calculations per trace to about N, resulting in a significant improvement in computing efficiency. The operation of the algorithm is illustrated using synthetic and physical model data.

On the Synthesis of Straight Line, Constant Velocity Scanning Mechanisms

1991 ◽  
Vol 113 (4) ◽  
pp. 464-472 ◽  
Author(s):  
P. H. Hodges ◽  
A. P. Pisano
Keyword(s):  
Constant Velocity ◽  
Transverse Velocity ◽  
Grid Search ◽  
Planar Mechanisms ◽  
Kinematic Synthesis ◽  
Velocity Error ◽  
Straight Line ◽  
Transmission Angle ◽  
Point Motion ◽  
Input Motion

This paper presents a kinematic synthesis of constant-velocity, straight-line coupler-point motion of two planar mechanisms. After the derivation of synthesis equations, the numerical results of a grid search to determine the linkage dimensions for maximum constant velocity, with minimal straight line error, are presented. Plots of acceleration magnitude, transmission angles, and transverse velocity are presented as a function of the percentage of the constant velocity portion of a cycle of input motion. For a 5R2P Stephenson 6-bar linkage, normalized velocity errors as small as 2 percent can be maintained over 40 percent, or more, of the input cycle. A 7R Watt 6-bar linkage, while not achieving quite as high values as the 5R2P linkage, nevertheless can maintain normalized velocity errors as low as 2.5 percent over as much as 39 percent of the input cycle. These levels of performance must be weighed against unfavorable transmission angles, and in many cases, other undesirable effects, such as large accelerations and large transverse travel. The results show that, in order to maintain minimally acceptable transmission angle requirements, the velocity error and scan fraction requirements may be as little as 2.0 percent and as much as 35 percent, respectively.

On the Discussion of the Damping Reduction Factors in the Constant Acceleration Region for ATC-40 and FEMA-273

2003 ◽  
Vol 19 (4) ◽  
pp. 1001-1006 ◽  
Author(s):  
Yu-Yuan Lin ◽  
Meng-Hao Tsai ◽  
Kuo-Chun Chang
Keyword(s):  
Constant Velocity ◽  
Response Spectra ◽  
Design Practice ◽  
Velocity Range ◽  
Acceleration Region ◽  
Constant Acceleration ◽  
Reduction Factors

According to the ATC-40 (1996) and FEMA-273 (1997) documents, the damping reduction factors for the constant acceleration range of the design response spectra are larger than those for the constant velocity range of those. This trend is contrary to the results obtained from several recent studies and may lead to underestimates of the high-damped design response spectra. This paper points out the issue and suggests further examinations of the factor in the constant acceleration region with potential revision to design practice.

Bees Two-Hive Algorithm for Optimal Power Flow

2013 ◽  
Vol 313-314 ◽  
pp. 870-875
Author(s):  
Nopbhorn Leeprechanon ◽  
Prakornchai Phonrattanasak
Keyword(s):  
Energy Balance ◽  
Power Flow ◽  
Optimal Power Flow ◽  
Test System ◽  
Bees Algorithm ◽  
Fuel Cost ◽  
Physical Constraints ◽  
Optimal Power ◽  
Transmission Limits ◽  
Simulation Results

This paper presents bees two-hive algorithm for solving the optimal power flow (OPF) problem with various constraints. The objective of the proposed technique is to improve the quality solution of the conventional bees algorithm that minimize the total fuel cost subject to operational and physical constraints i.e. energy balance, generation and transmission limits including security constraints. The proposed methodology is tested on the IEEE 30-bus test system. The results obtained using the proposed approach are compared to GA, PSO, BA and other conventional. The comparison of quality solution with other algorithms confirms performance of proposed technique. Simulation results demonstrate that bees two-hive algorithm provides better results than other heuristic techniques.

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