scholarly journals Rolling Locomotion Control of a Biologically Inspired Quadruped Robot Based on Energy Compensation

2015 ◽  
Vol 2015 ◽  
pp. 1-10 ◽  
Author(s):  
Takuma Nemoto ◽  
Rajesh Elara Mohan ◽  
Masami Iwase
Keyword(s):  
Numerical Simulation ◽  
Dynamic Model ◽  
Mechanical Energy ◽  
Quadruped Robot ◽  
Biologically Inspired ◽  
Control Approach ◽  
Energy Compensation ◽  
Rolling Locomotion ◽  
Periodic Rolling ◽  
Flat Ground

We have developed a biologically inspired reconfigurable quadruped robot which can perform walking and rolling locomotion and transform between walking and rolling by reconfiguring its legs. This paper presents an approach to control rolling locomotion with the biologically inspired quadruped robot. For controlling rolling locomotion, a controller which can compensate robot’s energy loss during rolling locomotion is designed based on a dynamic model of the quadruped robot. The dynamic model describes planar rolling locomotion based on an assumption that the quadruped robot does not fall down while rolling and the influences of collision and contact with the ground, and it is applied for computing the mechanical energy and a plant in a numerical simulation. The numerical simulation of rolling locomotion on the flat ground verifies the effectiveness of the proposed controller. The simulation results show that the quadruped robot can perform periodic rolling locomotion with the proposed energy-based controller. In conclusion, it is shown that the proposed control approach is effective in achieving the periodic rolling locomotion on the flat ground.

Numerical Simulation of Radon Atmospheric Dynamic Diffusion from a Flat Ground Uranium Tailings Impoundment

2013 ◽  
Vol 807-809 ◽  
pp. 628-631
Author(s):  
Xiao Yong Peng ◽  
Xin Zhang ◽  
Shuai Huang ◽  
Xu Sheng Chai ◽  
Lan Xia Guo
Keyword(s):  
Numerical Simulation ◽  
Mass Fraction ◽  
Space Distribution ◽  
Time And Space ◽  
Tailings Impoundment ◽  
Diffusion Characteristics ◽  
Atmospheric Dynamic ◽  
Uranium Tailings ◽  
Dynamic Diffusion ◽  
Flat Ground

with a flat ground uranium tailings impoundment as the object of the paper, CFD technology was used to study the atmospheric dynamic diffusion characteristics and the evolution of time and space distribution of radon in the uranium tailings impoundment. Results show that, within 1500m range of the leeward of uranium tailings impoundment the falling gradient of radon mass fraction improves with distance increases at the same moment, however the falling gradient flattens with the increase of time gradually; During the first 30 minutes, the radon mass fraction of tailings impoundment in the leeward direction has a larger growth gradient, then flattens out slowly, and stabilizes after 75 minutes.

Real-time trajectory tracking control of Stewart platform using fractional order fuzzy PID controller optimized by particle swarm algorithm

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Zafer Bingul ◽  
Oguzhan Karahan
Keyword(s):  
Dynamic Model ◽  
Fractional Order ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Fuzzy Pid ◽  
Simulation Environment ◽  
Trajectory Tracking Control ◽  
Content Type ◽  
Control Approach ◽  
Coupling Dynamic

Purpose The purpose of this paper is to address a fractional order fuzzy PID (FOFPID) control approach for solving the problem of enhancing high precision tracking performance and robustness against to different reference trajectories of a 6-DOF Stewart Platform (SP) in joint space. Design/methodology/approach For the optimal design of the proposed control approach, tuning of the controller parameters including membership functions and input-output scaling factors along with the fractional order rate of error and fractional order integral of control signal is tuned with off-line by using particle swarm optimization (PSO) algorithm. For achieving this off-line optimization in the simulation environment, very accurate dynamic model of SP which has more complicated dynamical characteristics is required. Therefore, the coupling dynamic model of multi-rigid-body system is developed by Lagrange-Euler approach. For completeness, the mathematical model of the actuators is established and integrated with the dynamic model of SP mechanical system to state electromechanical coupling dynamic model. To study the validness of the proposed FOFPID controller, using this accurate dynamic model of the SP, other published control approaches such as the PID control, FOPID control and fuzzy PID control are also optimized with PSO in simulation environment. To compare trajectory tracking performance and effectiveness of the tuned controllers, the real time validation trajectory tracking experiments are conducted using the experimental setup of the SP by applying the optimum parameters of the controllers. The credibility of the results obtained with the controllers tuned in simulation environment is examined using statistical analysis. Findings The experimental results clearly demonstrate that the proposed optimal FOFPID controller can improve the control performance and reduce reference trajectory tracking errors of the SP. Also, the proposed PSO optimized FOFPID control strategy outperforms other control schemes in terms of the different difficulty levels of the given trajectories. Originality/value To the best of the authors’ knowledge, such a motion controller incorporating the fractional order approach to the fuzzy is first time applied in trajectory tracking control of SP.

scholarly journals Hydrodynamic Analysis of Self-Propulsion Performance of Wave-Driven Catamaran

2021 ◽  
Vol 9 (11) ◽  
pp. 1221
Author(s):  
Weixin Zhang ◽  
Ye Li ◽  
Yulei Liao ◽  
Qi Jia ◽  
Kaiwen Pan
Keyword(s):  
Numerical Simulation ◽  
Flow Field ◽  
Dynamic Model ◽  
Dynamic Structure ◽  
Ocean Waves ◽  
Static State ◽  
Small Surface ◽  
Propulsion Performance ◽  
Multi Body ◽  
Body Dynamic

The wave-driven catamaran is a small surface vehicle driven by ocean waves. It consists of a hull and hydrofoils, and has a multi-body dynamic structure. The process of moving from static state to autonomous navigation driven by ocean waves is called “self-propulsion”, and reflects the ability of the wave-driven catamaran to absorb oceanic wave energy. Considering the importance of the design of the wave-driven catamaran, its self-propulsion performance should be comprehensively analysed. However, the wave-driven catamaran’s multi-body dynamic structure, unpredictable dynamic and kinematic responses driven by waves make it difficult to analyse its self-propulsion performance. In this paper, firstly, a multi-body dynamic model is established for wave-driven catamaran. Secondly, a two-phase numerical flow field containing water and air is established. Thirdly, a numerical simulation method for the self-propulsion process of the wave-driven catamaran is proposed by combining the multi-body dynamic model with a numerical flow field. Through numerical simulation, the hydrodynamic response, including the thrust of the hydrofoils, the resistance of the hull and the sailing velocity of the wave-driven catamaran are identified and comprehensively analysed. Lastly, the accuracy of the numerical simulation results is verified through a self-propulsion test in a towing tank. In contrast with previous research, this method combines multi-body dynamics with computational fluid dynamics (CFD) to avoid errors caused by artificially setting the motion mode of the catamaran, and calculates the real velocity of the catamaran.

Navigation strategy for a quadruped robot on soft flat ground

ICCAS 2010 ◽  
2010 ◽  
Author(s):  
Masaaki Ikeda ◽  
Kiyotaka Izumi ◽  
Keigo Watanabe
Keyword(s):  
Quadruped Robot ◽  
Navigation Strategy ◽  
Flat Ground

scholarly journals A Biologically Inspired Framework for the Intelligent Control of Mechatronic Systems and Its Application to a Micro Diving Agent

2018 ◽  
Vol 2018 ◽  
pp. 1-16 ◽  
Author(s):  
Wallace M. Bessa ◽  
Gerrit Brinkmann ◽  
Daniel A. Duecker ◽  
Edwin Kreuzer ◽  
Eugen Solowjow
Keyword(s):  
Neural Network ◽  
Sliding Mode ◽  
Weight Vector ◽  
Mechatronic Systems ◽  
Biologically Inspired ◽  
Control Approach ◽  
The Neural Network ◽  
Control Scheme ◽  
Intelligent Behavior ◽  
Intelligent Controllers

Mechatronic systems are becoming an intrinsic part of our daily life, and the adopted control approach in turn plays an essential role in the emulation of the intelligent behavior. In this paper, a framework for the development of intelligent controllers is proposed. We highlight that robustness, prediction, adaptation, and learning, which may be considered the most fundamental traits of all intelligent biological systems, should be taken into account within the project of the control scheme. Hence, the proposed framework is based on the fusion of a nonlinear control scheme with computational intelligence and also allows mechatronic systems to be able to make reasonable predictions about its dynamic behavior, adapt itself to changes in the plant, learn by interacting with the environment, and be robust to both structured and unstructured uncertainties. In order to illustrate the implementation of the control law within the proposed framework, a new intelligent depth controller is designed for a microdiving agent. On this basis, sliding mode control is combined with an adaptive neural network to provide the basic intelligent features. Online learning by minimizing a composite error signal, instead of supervised off-line training, is adopted to update the weight vector of the neural network. The boundedness and convergence properties of all closed-loop signals are proved using a Lyapunov-like stability analysis. Numerical simulations and experimental results obtained with the microdiving agent demonstrate the efficacy of the proposed approach and its suitableness for both stabilization and trajectory tracking problems.

Dynamic model for population distribution and optimum immigration and job creation policies

2004 ◽  
Vol 31 (2) ◽  
pp. 261
Author(s):  
N. U. Ahmed ◽  
Yongjuan He
Keyword(s):  
Numerical Simulation ◽  
Optimal Control ◽  
Control Theory ◽  
Dynamic Model ◽  
Optimal Control Theory ◽  
Close Agreement ◽  
Population Distribution ◽  
Job Creation ◽  
Population Level ◽  
Decision Control

In this paper we demonstrate that by use of modern Systems and Optimal Control theory, it is possible to formulate optimum immigration and job creation strategies while maintaining population level close to certain pre-specified targets. With this objective in mind, we consider a simplified dynamic model based on a previous model developed in (Ahmed and Rahim, 2001:325-358) to describe the population distribution in Canada. Numerical results demonstrate that the model population is in close agreement with the actual population. This model was then used to formulate a control problem with immigration and job creation rates being the decision (control) variables. Using optimal control theory, optimum immigration and job creation policies were determined. Results are illustrated by numerical simulation and they are found to be very encouraging.

scholarly journals The investigation of the cavitation processes in the radial labyrinth pump

2018 ◽  
Vol 8 (1) ◽  
pp. 322-328
Author(s):  
Moloshnyi Oleksandr ◽  
Szulc Przemyslaw
Keyword(s):  
Numerical Simulation ◽  
Cross Section ◽  
Volume Fraction ◽  
Mechanical Energy ◽  
Circular Cross Section ◽  
Back Side ◽  
Numerical Investigations ◽  
Numerical Research ◽  
The Moment ◽  
Velocity Pressure

Abstract The paper concerns the analysis of the cavitation processes in the flow passages of the radial labyrinth pump. The object of the analysis contains the active (moving) and the passive (stationary) discs with straight channels trajectory and semi-circular cross-section. The conversion of the mechanical energy into hydraulic based on the exchange of the momentum between the liquid remaining in the moving and the stationary areas of the discs as well as on the centrifugal increase of the moment of momentum. The analysis of the cavitation processes was realized by the experimental research and the numerical simulation. In the article, the comparison of the cavitation characteristics was carried out. The numerical simulation had given similar results to the experimental one, the process of the cavitation was visualized. Furthermore, numerical investigations helped to describe the cavitation development. The results of the numerical research such as the distributions of the velocity, pressure and vapor volume fraction in the passages were presented. At first, cavitation starts on the back side and on the top of the wall between channels of the active disc. Further, the cavitation areas are growing along the axis of the channels. Eventually, they separation was observed and vortices of the vapour-gas mixture in the middle of the channels were formed. This phenomenon is so-called super cavitation vortices.

Modeling and control of a mobile manipulator

Robotica ◽  
1998 ◽  
Vol 16 (6) ◽  
pp. 607-613 ◽  
Author(s):  
J. H. Chung ◽  
S. A. Velinsky
Keyword(s):  
Dynamic Model ◽  
Control Method ◽  
Harmful Effect ◽  
Euler Method ◽  
Friction Model ◽  
Mobile Manipulator ◽  
Wheel Slip ◽  
Modeling And Control ◽  
Control Approach ◽  
And Control

This paper concerns the modeling and control of a mobile manipulator which consists of a robotic arm mounted upon a mobile platform. The equations of motion are derived using the Lagrange-d'Alembert formulation for the nonholonomic model of the mobile manipulator. The dynamic model which considers slip of the platform's tires is developed using the Newton-Euler method and incorporates Dugoff's tire friction model. Then, the tracking problem is investigated by using a well known nonlinear control method for the nonholonomic model. The adverse effect of the wheel slip on the tracking of commanded motion is discussed in the simulation. For the dynamic model, a variable structure control approach is employed to minimize the harmful effect of the wheel slip on the tracking performance. The simulation results demonstrate the effectiveness of the proposed control algorithm.

Experimental validation on the integrated design and control of a parallel robot

Robotica ◽  
2005 ◽  
Vol 24 (2) ◽  
pp. 173-181 ◽  
Author(s):  
Qing Li
Keyword(s):  
Dynamic Model ◽  
High Speed ◽  
Dynamic Models ◽  
Integrated Design ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Approximation Techniques ◽  
Control Approach ◽  
Modeling Errors ◽  
And Control

Due to the demands from the robotic industry, robot structures have evolved from serial to parallel. The control of parallel robots for high performance and high speed tasks has always been a challenge to control engineers. Following traditional control engineering approaches, it is possible to design advanced algorithms for parallel robot control. These approaches, however, may encounter problems such as heavy computational load and modeling errors, to name it a few. To avoid heavy computation, simplified dynamic models can be obtained by applying approximation techniques, nevertheless, performance accuracy will suffer due to modeling errors. This paper suggests applying an integrated design and control approach, i.e., the Design For Control (DFC) approach, to handle this problem. The underlying idea of the DFC approach can be illustrated as follows: Intuitively, a simple control algorithm can control a structure with a simple dynamic model quite well. Therefore, no matter how sophisticate a desired motion task is, if the mechanical structure is designed such that it results in a simple dynamic model, then, to design a controller for this system will not be a difficult issue. As such, complicated control design can be avoided, on-line computation load can be reduced and better control performance can be achieved. Through out the discussion in the paper, a 2 DOF parallel robot is redesigned based on the DFC concept in order to obtain a simpler dynamic model based on a mass-balancing method. Then a simple PD controller can drive the robot to achieve accurate point-to-point tracking tasks. Theoretical analysis has proven that the simple PD control can guarantee a stable system. Experimental results have successfully demonstrated the effectiveness of this integrated design and control approach.

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