scholarly journals Using Physical Experiments as Oracles

2009 ◽  
pp. 1-1
Author(s):  
Edwin J. Beggs
Keyword(s):  
Physical Experiments

scholarly journals Task space adaptation via the learning of gait controllers of magnetic soft millirobots

2021 ◽  
pp. 027836492110218
Author(s):  
Sinan O. Demir ◽  
Utku Culha ◽  
Alp C. Karacakol ◽  
Abdon Pena-Francesch ◽  
Sebastian Trimpe ◽  
...  
Keyword(s):  
Human Body ◽  
Degrees Of Freedom ◽  
Bayesian Optimization ◽  
Small Scale ◽  
Soft Robots ◽  
Modeling And Control ◽  
Walking Gait ◽  
Physical Experiments ◽  
Efficient Learning ◽  
Task Environments

Untethered small-scale soft robots have promising applications in minimally invasive surgery, targeted drug delivery, and bioengineering applications as they can directly and non-invasively access confined and hard-to-reach spaces in the human body. For such potential biomedical applications, the adaptivity of the robot control is essential to ensure the continuity of the operations, as task environment conditions show dynamic variations that can alter the robot’s motion and task performance. The applicability of the conventional modeling and control methods is further limited for soft robots at the small-scale owing to their kinematics with virtually infinite degrees of freedom, inherent stochastic variability during fabrication, and changing dynamics during real-world interactions. To address the controller adaptation challenge to dynamically changing task environments, we propose using a probabilistic learning approach for a millimeter-scale magnetic walking soft robot using Bayesian optimization (BO) and Gaussian processes (GPs). Our approach provides a data-efficient learning scheme by finding the gait controller parameters while optimizing the stride length of the walking soft millirobot using a small number of physical experiments. To demonstrate the controller adaptation, we test the walking gait of the robot in task environments with different surface adhesion and roughness, and medium viscosity, which aims to represent the possible conditions for future robotic tasks inside the human body. We further utilize the transfer of the learned GP parameters among different task spaces and robots and compare their efficacy on the improvement of data-efficient controller learning.

scholarly journals An extended state observer-based full-order sliding mode control for robotic joint actuated by antagonistic pneumatic artificial muscles

2021 ◽  
Vol 18 (1) ◽  
pp. 172988142098603
Author(s):  
Daoxiong Gong ◽  
Mengyao Pei ◽  
Rui He ◽  
Jianjun Yu
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
State Observer ◽  
Extended State Observer ◽  
Artificial Muscles ◽  
Extended State ◽  
Robot System ◽  
Mode Control ◽  
Physical Experiments ◽  
Pneumatic Artificial Muscles

Pneumatic artificial muscles (PAMs) are expected to play an important role in endowing the advanced robot with the compliant manipulation, which is very important for a robot to coexist and cooperate with humans. However, the strong nonlinear characteristics of PAMs hinder its wide application in robots, and therefore, advanced control algorithms are urgently needed for making the best use of the advantages and bypassing the disadvantages of PAMs. In this article, we propose a full-order sliding mode control extended state observer (fSMC-ESO) algorithm that combines the ESO and the fSMC for a robotic joint actuated by a pair of antagonistic PAMs. The fSMC is employed to eliminate the chattering and to guarantee the finite-time convergence, and the ESO is adopted to observe both the total disturbance and the states of the robot system, so that we can inhibit the disturbance and compensate the nonlinearity efficiently. Both simulations and physical experiments are conducted to validate the proposed method. We suggest that the proposed method can be applied to the robotic systems actuated by PAMs and remarkably improve the performance of the robot system.

scholarly journals Constraint and Mobility Change Analysis of Rubik’s Cube-inspired Reconfigurable Joints and Corresponding Parallel Mechanisms

2020 ◽  
Vol 33 (1) ◽  
Author(s):  
Duanling Li ◽  
Pu Jia ◽  
Jiazhou Li ◽  
Dan Zhang ◽  
Xianwen Kong
Keyword(s):  
Parallel Mechanism ◽  
Unique Feature ◽  
Theoretical Method ◽  
Geometric Constraint ◽  
Parallel Mechanisms ◽  
Change Analysis ◽  
Application Range ◽  
And Topology ◽  
Physical Experiments ◽  
Underlying Principle

Abstract The current research of reconfigurable parallel mechanism mainly focuses on the construction of reconfigurable joints. Compared with the method of changing the mobility by physical locking joints, the geometric constraint has good controllability, and the constructed parallel mechanism has more configurations and wider application range. This paper presents a reconfigurable axis (rA) joint inspired and evolved from Rubik's Cubes, which have a unique feature of geometric and physical constraint of axes of joint. The effectiveness of the rA joint in the construction of the limb is analyzed, resulting in a change in mobility and topology of the parallel mechanism. The rA joint makes the angle among the three axes inside the groove changed arbitrarily. This change in mobility is completed by the case illustrated by a 3(rA)P(rA) reconfigurable parallel mechanism having variable mobility from 1 to 6 and having various special configurations including pure translations, pure rotations. The underlying principle of the metamorphosis of this rA joint is shown by investigating the dependence of the corresponding screw system comprising of line vectors, leading to evolution of the rA joint from two types of spherical joints to three types of variable Hooke joints and one revolute joint. The reconfigurable parallel mechanism alters its topology by rotating or locking the axis of rA joint to turn all limbs into different phases. The prototype of reconfigurable parallel mechanism is manufactured and all configurations are enumerated to verify the validity of the theoretical method by physical experiments.

scholarly journals Acoustic Emission Characteristics and Joint Nonlinear Mechanical Response of Rock Masses under Uniaxial Compression

Energies ◽  
2021 ◽  
Vol 14 (1) ◽  
pp. 200
Author(s):  
Zhongliang Feng ◽  
Xin Chen ◽  
Yu Fu ◽  
Shaoshuai Qing ◽  
Tongguan Xie
Keyword(s):  
Acoustic Emission ◽  
Uniaxial Compression ◽  
Inclination Angle ◽  
Failure Modes ◽  
Strain Curve ◽  
Particle Flow Code ◽  
Rock Masses ◽  
Physical Experiments ◽  
Inclination Angles ◽  
Joint Inclination

The joint arrangement in rock masses is the critical factor controlling the stability of rock structures in underground geotechnical engineering. In this study, the influence of the joint inclination angle on the mechanical behavior of jointed rock masses under uniaxial compression was investigated. Physical model laboratory experiments were conducted on jointed specimens with a single pre-existing flaw inclined at 0°, 30°, 45°, 60°, and 90° and on intact specimens. The acoustic emission (AE) signals were monitored during the loading process, which revealed that there is a correlation between the AE characteristics and the failure modes of the jointed specimens with different inclination angles. In addition, particle flow code (PFC) modeling was carried out to reproduce the phenomena observed in the physical experiments. According to the numerical results, the AE phenomenon was basically the same as that observed in the physical experiments. The response of the pre-existing joint mainly involved three stages: (I) the closing of the joint; (II) the strength mobilization of the joint; and (III) the reopening of the joint. Moreover, the response of the pre-existing joint was closely related to the joint’s inclination. As the joint inclination angle increased, the strength mobilization stage of the joint gradually shifted from the pre-peak stage of the stress–strain curve to the post-peak stage. In addition, the instantaneous drop in the average joint system aperture (aave) in the specimens with medium and high inclination angles corresponded to a rapid increase in the form of the pulse of the AE activity during the strength mobilization stage.

A Convex Complementarity Approach for Simulating Large Granular Flows

2010 ◽  
Vol 5 (3) ◽  
Author(s):  
Alessandro Tasora ◽  
Mihai Anitescu
Keyword(s):  
Granular Flow ◽  
Complementarity Problems ◽  
Particle Interaction ◽  
Granular Flows ◽  
Rigid Bodies ◽  
Integration Time ◽  
Frictional Contacts ◽  
Physical Experiments ◽  
Dense Granular Flow ◽  
Number Of Particles

Aiming at the simulation of dense granular flows, we propose and test a numerical method based on successive convex complementarity problems. This approach originates from a multibody description of the granular flow: all the particles are simulated as rigid bodies with arbitrary shapes and frictional contacts. Unlike the discrete element method (DEM), the proposed approach does not require small integration time steps typical of stiff particle interaction; this fact, together with the development of optimized algorithms that can run also on parallel computing architectures, allows an efficient application of the proposed methodology to granular flows with a large number of particles. We present an application to the analysis of the refueling flow in pebble-bed nuclear reactors. Extensive validation of our method against both DEM and physical experiments results indicates that essential collective characteristics of dense granular flow are accurately predicted.

A Least Square Method for Measurement and Optimisation in Selected Physical Experiments

2005 ◽  
Vol 295-296 ◽  
pp. 681-686 ◽  
Author(s):  
I. Frollo ◽  
P. Andris ◽  
I. Strolka ◽  
L. Bačiak
Keyword(s):  
Magnetic Field ◽  
Input Parameter ◽  
Target Function ◽  
Least Square Method ◽  
Least Square ◽  
Physical Experiments ◽  
Magnetic Field Homogeneity ◽  
Field Homogeneity ◽  
Basic Parameters ◽  
Shim Coils

The scope of this paper is to demonstrate a least square method for optimisation of basic parameters for selected physical experiment design where large input parameter measurement and adjustment is needed. The speed of calculation and experimentally verified results are promising to use this method in many physical projects. We have demonstrated this method for computation of feeding currents of correcting coils for stationary magnetic field used in NMR imaging. A set of linear equation definition and determination of a target function and optimisation computations are presented with procedures that provide optimal values of currents for shim coils. The proposed method, because of its simplicity and speed of computation, is convenient for basic adjustment of the magnetic field homogeneity by the first magnet installation. It is also suitable for periodic testing and magnet inhomogeneity correction for MRI magnets.

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