MantisBot Changes Stepping Speed by Entraining CPGs to Positive Velocity Feedback

2017 ◽  
pp. 440-452 ◽  
Author(s):  
Nicholas S. Szczecinski ◽  
Roger D. Quinn
Keyword(s):  
Velocity Feedback

Vibration Control of a Flexible Link Manipulator Using an Array of Fiber-Optic Curvature Sensors and Piezoelectric Actuators

2007 ◽  
Author(s):  
Kerem Gurses ◽  
Bradley J. Buckman ◽  
Edward J. Park
Keyword(s):  
Motion Control ◽  
Sensor Array ◽  
Fiber Optic ◽  
Element Model ◽  
Flexible Manipulator ◽  
Flexible Link ◽  
Velocity Feedback ◽  
Lyapunov Approach ◽  
Single Link ◽  
Actuator Control

This paper presents a novel feedback sensing approach for actively suppressing vibrations of a single-link flexible manipulator. Slewing of the flexible link by a rotating hub induces vibrations in the link that persist long after the hub stops rotating. These vibrations are suppressed through a combined scheme of PD-based hub motion control and proposed piezoelectric (PZT) actuator control, which is a composite linear and velocity feedback controller. Lyapunov approach was used to synthesize the controller based on a finite element model of the system. Its realization was possible due to the availability of both linear and angular velocity feedback provided by a unique, commercially-available fiber optic curvature sensor array, called ShapeTape™. It is comprised of an array of fiber optic curvature sensors, laminated on a long, thin ribbon tape, geometrically arranged in such a way that, when it is embedded into the flexible link, the bend and twist of the link’s centerline can be measured. Experimental results show the effectiveness of the proposed approach.

Electro-magneto wave propagation analysis of viscoelastic sandwich nanoplates considering surface effects

2016 ◽  
Vol 231 (2) ◽  
pp. 387-403 ◽  
Author(s):  
A Ghorbanpour Arani ◽  
M Jamali ◽  
AH Ghorbanpour-Arani ◽  
R Kolahchi ◽  
M Mosayyebi
Keyword(s):  
Zinc Oxide ◽  
Wave Propagation ◽  
Feedback Control ◽  
Graphene Sheet ◽  
Surface Effects ◽  
Structural Damping ◽  
Sensors And Actuators ◽  
Velocity Feedback ◽  
Oxide Layers ◽  
Propagation Analysis

The original formulation of the quasi-3D sinusoidal shear deformation plate theory (SSDPT) is here extended to the wave propagation analysis of viscoelastic sandwich nanoplates considering surface effects. The sandwich structure contains a single layered graphene sheet as core integrated with zinc oxide layers as sensors and actuators. The single layered graphene sheet and zinc oxide layers are subjected, respectively, to 2D magnetic and 3D electric fields. Structural damping and surface effects are assumed using Kelvin–Voigt and Gurtin–Murdoch theories, respectively. The system is rested on an elastic medium which is simulated with a novel model namely as orthotropic visco-Pasternak foundation. An exact solution is applied in order to obtain the frequency, cut-off and escape frequencies. A displacement and velocity feedback control algorithm is applied for the active control of the frequency through a closed-loop control with bonded distributed zinc oxide sensors and actuators. The detailed parametric study is conducted, focusing on the combined effects of the nonlocal parameter, magnetic field, viscoelastic foundation, surface stress, applied voltage, velocity feedback control gain and structural damping on the wave propagation behavior of nanostructure. Results depict that with increasing the structural damping coefficient, frequency significantly decreases.

Displacement and Velocity Feedback Control of a Beam with a Deadband Region

1989 ◽  
Vol 17 (4) ◽  
pp. 507-521 ◽  
Author(s):  
John C. Bruch ◽  
Sarp Adali ◽  
James M. Sloss ◽  
Ibrahim S. Sadek
Keyword(s):  
Feedback Control ◽  
Velocity Feedback

scholarly journals Accelerometer-based estimation and modal velocity feedback vibration control of a stress-ribbon bridge with pneumatic muscles

2016 ◽  
Vol 744 ◽  
pp. 012041 ◽  
Author(s):  
Xiaohan Liu ◽  
Thomas Schauer ◽  
Arndt Goldack ◽  
Achim Bleicher ◽  
Mike Schlaich
Keyword(s):  
Vibration Control ◽  
Velocity Feedback ◽  
Pneumatic Muscles
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