Supersonic aeroelastic applications of harmonic potential panel method to oscillating flexible bodies

1988 ◽  
Vol 25 (4) ◽  
pp. 271-277 ◽  
Author(s):  
Pablo Garcia-Fogeda ◽  
D. D. Liu
Keyword(s):  
Panel Method ◽  
Harmonic Potential ◽  
Flexible Bodies

Real-time obstacle avoidance for multiple mobile robots

Robotica ◽  
2009 ◽  
Vol 27 (2) ◽  
pp. 189-198 ◽  
Author(s):  
Farbod Fahimi ◽  
C. Nataraj ◽  
Hashem Ashrafiuon
Keyword(s):  
Mobile Robots ◽  
Real Time ◽  
Obstacle Avoidance ◽  
Panel Method ◽  
The Other ◽  
Harmonic Potential ◽  
Current Position ◽  
Multiple Mobile Robots ◽  
Moving Obstacles ◽  
Harmonic Potential Field

SUMMARYAn efficient, simple, and practical real time path planning method for multiple mobile robots in dynamic environments is introduced. Harmonic potential functions are utilized along with the panel method known in fluid mechanics. First, a complement to the traditional panel method is introduced to generate a more effective harmonic potential field for obstacle avoidance in dynamically changing environments. Second, a group of mobile robots working in an environment containing stationary and moving obstacles is considered. Each robot is assigned to move from its current position to a goal position. The group is not forced to maintain a formation during the motion. Every robot considers the other robots of the group as moving obstacles and hence the physical dimensions of the robots are also taken into account. The path of each robot is planned based on the changing position of the other robots and the position of stationary and moving obstacles. Finally, the effectiveness of the scheme is shown by modeling an arbitrary number of mobile robots and the theory is validated by several computer simulations and hardware experiments.

Obstacle Avoidance for Groups of Mobile Robots Using Potential Field Technique

2004 ◽  
Author(s):  
F. Fahimi ◽  
C. Nataraj ◽  
H. Ashrafiuon
Keyword(s):  
Mobile Robots ◽  
Obstacle Avoidance ◽  
Potential Field ◽  
Dynamic Environments ◽  
Panel Method ◽  
The Other ◽  
Harmonic Potential ◽  
Current Position ◽  
Moving Obstacles ◽  
Harmonic Potential Field

An efficient real time path planning method for groups of mobile robots in dynamic environments is introduced. Harmonic potential functions are utilized along with the panel method known in fluid mechanics. First, a complement to the traditional panel method is introduced to generate a more effective harmonic potential field for obstacle avoidance in dynamically changing environments. Second, a group of mobile robots working in an environment containing stationary and moving obstacles is considered. Each robot is assigned to move from its current position to a goal position. The group is not forced to maintain a formation during the motion. Every robot considers the other robots of the group as moving obstacles and hence the physical dimensions of the robots are also taken into account. The path of each robot is planned based on the changing position of the other robots and the position of stationary and moving obstacles. Finally, the effectiveness of the scheme is shown by modeling groups of an arbitrary number of mobile robots and the theory is validated by several computer simulations and hardware experiments.

scholarly journals Analysis on Force Transmission Characteristics of Two-Legged Shield Support under Impact Loading

2018 ◽  
Vol 2018 ◽  
pp. 1-10 ◽  
Author(s):  
Qing-liang Zeng ◽  
Zhao-sheng Meng ◽  
Li-rong Wan ◽  
Cheng-long Wang
Keyword(s):  
Structural Design ◽  
Load Transfer ◽  
Impact Load ◽  
Force Transmission ◽  
Full Account ◽  
Flexible Bodies ◽  
Powered Support ◽  
Structural Design Optimization ◽  
Hinge Points ◽  
The Impact

To study the load transfer characteristics of a two-legged shield powered support, a numerical simulation model of the support was established using the multibody dynamics software ADAMS. The model took full account of the hydraulic-elastic deformation characteristics of the support, as a series spring-damper system was used to replace the leg and the equilibrium jack. The canopy, goaf shield, lemniscate bars, and equilibrium jack are equivalent to flexible bodies. The setting force of the leg was provided by the preload of the equivalent spring, the static roof load was simulated using a slope signal, and the impact load was simulated using a step signal. Using the model, the impact and excitation effects of each hinge joint of the support were analyzed under different impact load conditions across the canopy. The results show that the location of the impact load affects the force transmissions of all hinge points of the support. Both the impact effect and the excitation effect are at a minimum when the impact force is located near the leg action line. These results are useful for the adaptive control and structural design optimization of the support.

Sign in / Sign up

Export Citation Format

Share Document