Evaluation of the Effect of Longitudinal Forces on the Stability of Straight Line Movement of a Tractor Unit

2022 ◽  
pp. 391-397
Author(s):  
A. Startcev ◽  
S. Romanov ◽  
I. Storozhev
Keyword(s):  
Straight Line ◽  
The Stability ◽  
Line Movement

scholarly journals Turning Gait Planning Method for Humanoid Robots

2018 ◽  
Vol 8 (8) ◽  
pp. 1257 ◽  
Author(s):  
Tianqi Yang ◽  
Weimin Zhang ◽  
Xuechao Chen ◽  
Zhangguo Yu ◽  
Libo Meng ◽  
...  
Keyword(s):  
Inverted Pendulum ◽  
Center Of Mass ◽  
Translational Motion ◽  
Humanoid Robots ◽  
Inverted Pendulum Model ◽  
Straight Line ◽  
Pendulum Model ◽  
The Stability ◽  
And Control ◽  
Present Simulation

The most important feature of this paper is to transform the complex motion of robot turning into a simple translational motion, thus simplifying the dynamic model. Compared with the method that generates a center of mass (COM) trajectory directly by the inverted pendulum model, this method is more precise. The non-inertial reference is introduced in the turning walk. This method can translate the turning walk into a straight-line walk when the inertial forces act on the robot. The dynamics of the robot model, called linear inverted pendulum (LIP), are changed and improved dynamics are derived to make them apply to the turning walk model. Then, we expend the new LIP model and control the zero moment point (ZMP) to guarantee the stability of the unstable parts of this model in order to generate a stable COM trajectory. We present simulation results for the improved LIP dynamics and verify the stability of the robot turning.

The determination of the stoichiometry and stability constant of weak complexes in solution: a restatement of the "straight-line" method

1983 ◽  
Vol 61 (6) ◽  
pp. 1100-1102 ◽  
Author(s):  
Aurelio Beltrán-Porter ◽  
José A. Ramírez
Keyword(s):  
Stability Constant ◽  
Stoichiometric Ratio ◽  
Complex Species ◽  
Line Method ◽  
Straight Line ◽  
Weak Complexes ◽  
The Stability ◽  
Degree Of Condensation ◽  
Straight Line Method

Usually, to establish the degree of condensation of a complex species in solution, primarily when it is a weak complex, is more cumbersome than to determine the stoichiometric ratio itself. The present work describes a modification of the Asmus method in order to render it suitable for the determination of the actual stoichiometric coefficients and the stability constant of weak complexes whatever the degree of condensation may be.

Mechanistic Information on the Aquations of Complexes of the Pentaamminecobalt(III) Series from Kinetic Studies at High Pressures

1972 ◽  
Vol 50 (17) ◽  
pp. 2739-2746 ◽  
Author(s):  
W. E. Jones ◽  
L. R. Carey ◽  
T. W. Swaddle
Keyword(s):  
High Pressures ◽  
Rate Coefficient ◽  
Kinetic Studies ◽  
Quadratic Equation ◽  
Water Molecules ◽  
First Order ◽  
Unit Slope ◽  
Straight Line ◽  
The Mean ◽  
The Stability

The logarithm of the pseudo-first-order rate coefficient k for the aquation of Co(NH3)5X(3–n)+ can be represented by a quadratic equation in the pressure P, or, better, by[Formula: see text]where P is in kbar, [Formula: see text] is the volume of activation at P = 0, and x is the increase in the number of water molecules solvating the complex as it goes to the transition state. For [Formula: see text]Cl−, Br−,[Formula: see text] and [Formula: see text] at 25° [Formula: see text] and ionic strength I = 0.1 M LiClO4/HClO4, [Formula: see text] −10.6, −9.2, −6.3, and +16.8 cm3 mol−1, and x = 8.0, 4.1, 3.9, 1.9, and −4.2; for Xn− = NCS−, the mean ΔV* from P = 0.001 to 2.5 kbar at 88° is −4 cm3 mol−1. Detailed consideration of these data, especially their correlation with the molar volume of reaction by a straight line of unit slope for [Formula: see text] Cl−, Br−, NO3−, and H2O, provides strong evidence for a dissociative interchange mechanism. For [Formula: see text] the separating entity is probably HN3 rather than [Formula: see text] For Xn− = NCS−, aquation is incomplete, at practical complex concentrations; at 88.0°, 1 bar, and I = 0.1 M LiClO4/HClO4, k = 3.3 × 10−6 s−1 and the stability constant of Co(NH3)5NCS2+ is 490 M−1.

Reduction of indium(III) at dropping mercury electrode in the presence of pyridine in aqueous and ethanol–water media

2010 ◽  
Vol 75 (6) ◽  
pp. 653-663 ◽  
Author(s):  
Vinita Sharma ◽  
Krishna D. Gupta
Keyword(s):  
Mercury Electrode ◽  
Complexation Reaction ◽  
Complex Species ◽  
Diffusion Controlled ◽  
Straight Line ◽  
Half Wave ◽  
Dropping Mercury Electrode ◽  
Water Media ◽  
Single Complex ◽  
The Stability

The reduction of indium(III) at dropping mercury electrode in aqueous as well as in 25% ethanol–water media in the presence of pyridine has been studied at a constant ionic strength (0.1 M KNO3) and at 30 and 40 °C. The reduction is diffusion-controlled but the electrode process is quasi-reversible in both media. The reversible half-wave potential values,E1/2r, have been obtained by Gelling’s method. The plot ofE1/2r versus pyridine concentration is a straight line and the number of ligands,j, was determined from the slope. This shows the formation of a single complex. The stability constant has been determined by Lingane’s method. In(III) forms one complex species with composition 1:1, [In(py)]3+. The values of thermodynamic parameters ΔG, ΔHand ΔSof the complexation reaction have also been determined at 30 °C.

scholarly journals Directional stability of an agricultural tractor

2021 ◽  
Vol 49 (2) ◽  
pp. 456-462
Author(s):  
Irina Troyanovskaya ◽  
A. Zhakov ◽  
O. Grebenshchikova ◽  
S. Voinash ◽  
E. Timofeev
Keyword(s):  
Mathematical Theory ◽  
Shear Force ◽  
Lateral Displacement ◽  
Lateral Forces ◽  
Straight Line ◽  
The Difference ◽  
External Forces ◽  
Agricultural Tractor ◽  
Line Movement ◽  
Moldboard Plow

The discrepancy between the plow width and the tractor width leads to the asymmetry of plowing units. The geometry of the plowshare surface of the moldboard plow contributes to the generation of lateral forces on the working tool. All this leads to the imbalance of the tool and the deviation of the tractor from straight-line movement during plowing. To maintain straight-line movement, the driver has to adjust the machine every 5-10 meters, which is highly tiresome. To study the causes of lateral slips of the plowing unit, we constructed a mathematical model, which consists of the equations of controlled movement and equations of the tractor's uncontrolled shear under the action of external forces from the plow. The description of the force interaction of the drive with the ground is based on the mathematical theory of friction, taking into account anisotropy and elastic properties in contact. Based on the passive shear model, we constructed a hodograph diagram of the maximum tractor shear force from the side of the working tool. We found that the shear force reaches its maximum friction value only in the case of a translational shear, when its line of action passes through the tractor's center of gravity. In all other cases, the shift (slip) of the tractor is caused by a lower force. We formulated the features and assumptions of the model as applied to caterpillar and wheeled tractors. As a result, we found that, regardless of the direction of the lateral displacement of the plow's traction resistance, the tractor is slipped towards the plowed field. The result of the numerical experiment showed that the main reason for the slip of the wheeled plowing unit is the difference in soils along the sides of the tractor but not the deviation of the plow traction resistance.

scholarly journals Lane Detection Algorithm Based on Road Structure and Extended Kalman Filter

2020 ◽  
Vol 12 (2) ◽  
pp. 1-20
Author(s):  
Jinsheng Xiao ◽  
Wenxin Xiong ◽  
Yuan Yao ◽  
Liang Li ◽  
Reinhard Klette
Keyword(s):  
Kalman Filter ◽  
Extended Kalman Filter ◽  
Region Of Interest ◽  
Detection Algorithm ◽  
Lane Detection ◽  
Strong Light ◽  
Edge Strength ◽  
Straight Line ◽  
Edge Points ◽  
The Stability

Lane detection still demonstrates low accuracy and missing robustness when recorded markings are interrupted by strong light or shadows or missing marking. This article proposes a new algorithm using a model of road structure and an extended Kalman filter. The region of interest is set according to the vanishing point. First, an edge-detection operator is used to scan horizontal pixels and calculate edge-strength values. The corresponding straight line is detected by line parameters voted by edge points. From the edge points and lane mark candidates extracted above, and other constraints, these points are treated as the potential lane boundary. Finally, the lane parameters are estimated using the coordinates of the lane boundary points. They are updated by an extended Kalman filter to ensure the stability and robustness. Results indicate that the proposed algorithm is robust for challenging road scenes with low computational complexity.

Ternary Complexes in Solution+ with Phosphonates as Ligands. Intramolecular Equilibria in the Mixed Ligand Cu2+ Complexes Formed by 2,2′-Bipyridyl or 1,10-Phenanthroline and the Dianion of Phosphonylmethoxyethane in Water-Dioxane Mixtures

1993 ◽  
Vol 48 (9) ◽  
pp. 1279-1287 ◽  
Author(s):  
Matthias Bastian ◽  
Dong Chen ◽  
Fridrich Gregáň ◽  
Guogang Liang ◽  
Helmut Sigel
Keyword(s):  
Equilibrium Constants ◽  
Parent Compound ◽  
Mixed Ligand ◽  
Mixed Ligand Complexes ◽  
Straight Line ◽  
Water As Solvent ◽  
Phosphate Monoesters ◽  
Ether Oxygen ◽  
The Stability ◽  
Straight Lines

The stability constants of the mixed ligand complexes formed by Cu2+, 2,2′-bipyridyl or 1,10-phenanthroline (= Arm), and the dianion of phosphonylmethoxyethane (PME2-), ethyl phosphonate (EtP2-), methyl phosphonate (MeP2-), or D-ribose 5′-monophosphate (RibMP2-) (= R–PO32-) were determined by potentiometric pH titrations in water containing 30 or 50% (v/v) 1,4-dioxane (I = 0.1 M, NaNO3; 25°C). The corresponding results regarding water as solvent were taken from our earlier work. Previous measurements with simple phosphate monoesters, together with the present results for RibMP2-, were used to establish log versus straight line plots. With the aid of the equilibrium constants determined for the MeP2- and EtP2- systems it is shown that simple phosphonates, i.e., those without an additional binding site, fit also on the same straight lines. Therefore, it could be demonstrated with these reference lines that the Cu(Arm)(PME) complexes in all solvents have a higher stability than expected for a sole phosphonate Cu2+ coordination. This increased stability is attributed to the formation of 5-membered chelates involving the ether oxygen present in the – CH2– O – CH2–PO32- residue of PME2-. The formation degree of the 5-membered chelates in the Cu(Arm)(PME) systems varies only between about 65 and 85% in the three mentioned solvents, despite the fact that the stabilities of the Cu(Arm)(PME) complexes increase by more than 1.8 log units by going from water to 50% dioxane-water. It is concluded that (i) such 5-membered chelates will also be formed in mixed ligand complexes of other metal ions in solvents with a reduced polarity, and (ii), more importantly, that the same interactions will also occur with the parent compound of PME2-, i.e. the dianion of 9-(2-phosphonylmethoxyethyl)adenine (PMEA2-), a compound which shows antiviral properties and for which the ether oxygen is important.

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