scholarly journals Advanced Backstepping Trajectory Control for Skid-Steered Duct-Cleaning Mobile Platforms

Electronics ◽  
2019 ◽  
Vol 8 (4) ◽  
pp. 401 ◽  
Author(s):  
Wootae Jeong ◽  
Seungwoo Jeon ◽  
Dahae Jeong
Keyword(s):  
Mobile Platforms ◽  
Upper Arm ◽  
Traction Motors ◽  
Air Ventilation ◽  
Turning Motion ◽  
Arm Motion ◽  
Narrow Space ◽  
Trajectory Tracking Controller ◽  
External Forces ◽  
Duct Cleaning

In recent years, a novel skid-steered duct-cleaning mobile platform was developed to remove dust accumulated on the inner surface of an air-ventilation duct with its rolling brushes. During the cleaning process, the irregular brushing pressure acting on the upper arm makes it difficult to control the platform through the duct path. In fact, the repulsive external force due to the brushing pressure is not directly measurable or computable because of the nonlinear deformation of the brush. In addition, dynamic uncertainties in platform motion can occur during reciprocating motion of the upper arm. Therefore, a model-based trajectory-tracking controller is required to control the mobile cleaning platform by considering irregular external forces. The robustness of the developed controller based on the adaptable PD(Proportional-Derivative)-backstepping method has been proposed and evaluated through numerical analysis and experiments. For the turning motion in a narrow space, a skid-steered platform model considering wheel slippage has been also implemented. The result shows that tracking control can be successfully achieved under various conditions of frequencies in brushing-arm motion and torque limitation of the traction motors.

Experimental and theoretical evaluation of the buoyancy and gravity driven underwater robots

Robotica ◽  
1995 ◽  
Vol 13 (3) ◽  
pp. 273-286 ◽  
Author(s):  
L. Gumusel ◽  
A. Baz
Keyword(s):  
Small Displacement ◽  
Robot Arm ◽  
Underwater Robots ◽  
Theoretical Evaluation ◽  
Power Requirement ◽  
Control Laws ◽  
Gravity Forces ◽  
Gravity Driven ◽  
Arm Motion ◽  
External Forces

SummaryThe dynamic model of a new class of underwater robot is derived and the validity of the model is checked experimentally. Close agreements between theory and experiment are attained. The interaction between the buoyancy and gravity forces acting on the robot arm, present in the underwater environment, is used to generate torques necessary to move the arm. The mathematical model of a multi-arm robot is developed to define the interaction between the dynamics of the moving weight and the robot links under the action of the resisting water drag and other external forces. The Lagrangian method is used in the formulation of the arm dynamics. The developed dynamic equations serve as means for designing the control laws necessary for controlling the position of the different joints of the robots. The study indicates that the buoyancy and gravity-driven robot can position a payload accurately as well as at a fairly fast speed of response. It is indicated from the theoretical and experimental study that the arm motion is created by a small displacement of moving weight on the power screw. Therefore, power requirement of this type of robot is just as enough to overcome the friction between the power screw and the moving weight. This features emphasize the potential of the concept as a viable means for driving underwater robots

Analytical Evaluation of the Double Stewart Platform Tensile Truss Stiffness Matrix

2013 ◽  
Vol 6 (1) ◽  
Author(s):  
Adam H. Hesselroth ◽  
Michael P. Hennessey
Keyword(s):  
Stiffness Matrix ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Stewart Platform ◽  
Physical Models ◽  
Measuring System ◽  
Small Displacement ◽  
Mobile Platforms ◽  
Specific System ◽  
External Forces

The 6 × 6 stiffness matrix for a single Stewart platform tensile truss is well known. This work extends the methodology used to determine the stiffness matrix of a double Stewart platform system, in which one Stewart platform is stacked on top of another, in serial fashion. A double Stewart platform may offer advantages for some applications in terms of increased stiffness in certain directions. Using principles of statics and considering small displacement perturbations in three-dimensional space of both mobile platforms (middle and bottom) from their weighted equilibrium locations, displacements can be related in a linear manner to application loading, implying a stiffness matrix. Scripts are then developed and executed in matlabtm to determine the stiffness matrix of a specific system. The matlabtm result is validated using single and double Stewart platform physical models and measuring system compliance responses to external forces and moments.

scholarly journals Frequency and Force Effects on Psychophysical and Myoelectric Variables in Low-Intensity Pinching Tasks

2000 ◽  
Vol 44 (22) ◽  
pp. 612-615
Author(s):  
Bart Visser ◽  
Jaap H. van Dieën ◽  
DirkJan (H.E.J.) Veeger ◽  
Michiel P. de Looze ◽  
Marjolein Douwes
Keyword(s):  
Risk Factors ◽  
External Load ◽  
Prime Mover ◽  
Subjective Ratings ◽  
Upper Arm ◽  
Work Related ◽  
Low Intensity ◽  
Manual Handling ◽  
External Forces ◽  
External Loads

Force and frequency in manual handling tasks are known risk factors for work related upper arm disorders. Three force levels and three frequencies are used to define the external load in a pinching task. The effects of these external loads on subjective and objective responses are studied. Subjective ratings poorly reflect the levels of external load. EMG variables P50 en P10 of the prime mover muscle seem useful variables in evaluating the effects of task frequency above a certain threshold in task frequency. P90 of the prime mover muscle is useful in evaluating the effects of external forces. It can be concluded that the P50 does not reflect the differences in force levels in tasks with low intensities.

Development of an Exoskeltal Robot for Human Upper Arm Motion Support

2002 ◽  
Vol 2002.6 (0) ◽  
pp. 159-160
Author(s):  
Kazuo Kiguchi ◽  
Takakazu Tanaka ◽  
Koya Iwami ◽  
Keigo Watanabe
Keyword(s):  
Upper Arm ◽  
Arm Motion

Using Popular Mobile Devices in Voice Therapy

2013 ◽  
Vol 23 (3) ◽  
pp. 82-87 ◽  
Author(s):  
Eva van Leer
Keyword(s):  
Exercise Behavior ◽  
Voice Therapy ◽  
Pure Oxygen ◽  
Mobile Platforms ◽  
Self Monitoring ◽  
Web Based ◽  
Motivational Messages ◽  
Related Information ◽  
Health Related ◽  
Tailored Approach

Mobile tools are increasingly available to help individuals monitor their progress toward health behavior goals. Commonly known commercial products for health and fitness self-monitoring include wearable devices such as the Fitbit© and Nike + Pedometer© that work independently or in conjunction with mobile platforms (e.g., smartphones, media players) as well as web-based interfaces. These tools track and graph exercise behavior, provide motivational messages, offer health-related information, and allow users to share their accomplishments via social media. Approximately 2 million software programs or “apps” have been designed for mobile platforms (Pure Oxygen Mobile, 2013), many of which are health-related. The development of mobile health devices and applications is advancing so quickly that the Food and Drug Administration issued a Guidance statement with the purpose of defining mobile medical applications and describing a tailored approach to their regulation.

Abstract #379 The Eversense CGM System Accuracy and Safety Assessment on the Abdomen Compared to the Upper Arm in a Home Use Setting

2019 ◽  
Vol 25 ◽  
pp. 173
Author(s):  
Magnus Löndahl ◽  
Mona Landin-Olsson ◽  
Stig Attval ◽  
Colleen Mdingi ◽  
Katherine S Tweden
Keyword(s):  
Safety Assessment ◽  
Upper Arm
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