Dynamical Analysis of a Biped Locomotion CPG Modelled by Means of Oscillators

In this research, the tribological and dynamical characteristics of a brake pad with multiple blocks are investigated using experimental and numerical methods. A dynamometer with a multiblock brake pad configuration on a brake disc is developed and a series of drag-type tests are conducted to study the brake squeal and wear behavior of a high-speed train brake system. Finite element analysis is performed to derive physical explanations for the observed experimental phenomena. The experimental and numerical results show that the rotational speed and braking force have important influences on the brake squeal; the trends of the multiblock and single-block systems are different. In the multiblock brake pad, the different blocks exhibit significantly different magnitudes of contact stresses and vibration accelerations. The blocks located in the inner and outer rings have higher vibration acceleration amplitudes and stronger vibration energies than the blocks located in the middle ring.

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Assessment of a POD method for the dynamical analysis of a catalyst pellet with simultaneous chemical reaction, adsorption and diffusion: Uniform temperature case

Computers & Chemical Engineering ◽

10.1016/j.compchemeng.2016.11.009 ◽

2017 ◽

Vol 97 ◽

pp. 259-270 ◽

Cited By ~ 5

Author(s):

Katarzyna Bizon

Keyword(s):

Chemical Reaction ◽

Dynamical Analysis ◽

Uniform Temperature ◽

Catalyst Pellet ◽

And Diffusion

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Core-centered Actuation for Biped Locomotion of Humanoid Robots

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) ◽

10.1109/iros45743.2020.9341364 ◽

2020 ◽

Author(s):

Caleb Fuller ◽

Umer Huzaifa ◽

Amy LaViers ◽

Joshua Schultz

Keyword(s):

Humanoid Robots ◽

Biped Locomotion

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Container port throughput analysis and active management using control theory

Proceedings of the Institution of Mechanical Engineers Part M Journal of Engineering for the Maritime Environment ◽

10.1177/14750902211020875 ◽

2021 ◽

pp. 147509022110208

Author(s):

Cuong Truong Ngoc ◽

Xiao Xu ◽

Hwan-Seong Kim ◽

Duy Anh Nguyen ◽

Sam-Sang You

Keyword(s):

Control Theory ◽

Time Series Data ◽

Sliding Mode ◽

Container Terminal ◽

Three Dimensional ◽

Maritime Transportation ◽

Container Terminals ◽

Active Management ◽

Dynamical Analysis ◽

Series Data

This paper deals with three-dimensional (3D) model of competitive Lotka-Volterra equation to investigate nonlinear dynamics and control strategy of container terminal throughput and capacity. Dynamical behaviors are intensely explored by using eigenvalue evaluation, bifurcation analysis, and time-series data. The dynamical analysis is to show the stability with bifurcation of the competition and collaboration of multiple container terminals in the maritime transportation. Based on the chaotic analysis, the sliding mode control theory has been utilized for optimization of port operations under disruptions. Extensive numerical simulations have been conducted to validate the efficacy and reliability of the presented control algorithms. Particularly, the closed-loop system has been assessed through chaotic suppression and synchronization strategies for port management. Finally, the presented fundamental techniques can be utilized to provide managerial insights and solutions on efficient seaport operations that allow more timely and cost-effective decision making for port authorities in such a highly competitive environment.

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A modular framework to generate robust biped locomotion: from planning to control

SN Applied Sciences ◽

10.1007/s42452-021-04752-9 ◽

2021 ◽

Vol 3 (9) ◽

Author(s):

Mohammadreza Kasaei ◽

Ali Ahmadi ◽

Nuno Lau ◽

Artur Pereira

Keyword(s):

Numerical Simulations ◽

Predictive Control ◽

Biped Locomotion ◽

Input Output ◽

Dynamics Model ◽

Biped Robots ◽

The Core ◽

Simulation Results ◽

Reference Trajectories ◽

Modular Framework

AbstractBiped robots are inherently unstable because of their complex kinematics as well as dynamics. Despite many research efforts in developing biped locomotion, the performance of biped locomotion is still far from the expectations. This paper proposes a model-based framework to generate stable biped locomotion. The core of this framework is an abstract dynamics model which is composed of three masses to consider the dynamics of stance leg, torso, and swing leg for minimizing the tracking problems. According to this dynamics model, we propose a modular walking reference trajectories planner which takes into account obstacles to plan all the references. Moreover, this dynamics model is used to formulate the controller as a Model Predictive Control (MPC) scheme which can consider some constraints in the states of the system, inputs, outputs, and also mixed input-output. The performance and the robustness of the proposed framework are validated by performing several numerical simulations using MATLAB. Moreover, the framework is deployed on a simulated torque-controlled humanoid to verify its performance and robustness. The simulation results show that the proposed framework is capable of generating biped locomotion robustly.

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Dynamical Analysis and Optimal Control for a SEIR Model Based on Virus Mutation in WSNs

Mathematics ◽

10.3390/math9090929 ◽

2021 ◽

Vol 9 (9) ◽

pp. 929

Author(s):

Guiyun Liu ◽

Jieyong Chen ◽

Zhongwei Liang ◽

Zhimin Peng ◽

Junqiang Li

Keyword(s):

Optimal Control ◽

Rapid Development ◽

Hamiltonian Function ◽

Propagation Model ◽

Dynamical Analysis ◽

Optimal Control Strategy ◽

Epidemic Dynamics ◽

Optimization Control ◽

The Cost ◽

The Pontryagin Maximum Principle

With the rapid development of science and technology, the application of wireless sensor networks (WSNs) is more and more widely. It has been widely concerned by scholars. Viruses are one of the main threats to WSNs. In this paper, based on the principle of epidemic dynamics, we build a SEIR propagation model with the mutated virus in WSNs, where E nodes are infectious and cannot be repaired to S nodes or R nodes. Subsequently, the basic reproduction number R0, the local stability and global stability of the system are analyzed. The cost function and Hamiltonian function are constructed by taking the repair ratio of infected nodes and the repair ratio of mutated infected nodes as optimization control variables. Based on the Pontryagin maximum principle, an optimal control strategy is designed to effectively control the spread of the virus and minimize the total cost. The simulation results show that the model has a guiding significance to curb the spread of mutated virus in WSNs.

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