scholarly journals Energy-saving optimization method for point-to-point trajectories planned via standard primitives in 1-DoF mechatronic systems

2021 ◽  
Author(s):  
Giovanni Carabin ◽  
Renato Vidoni
Keyword(s):  
Closed Form Solution ◽  
Optimization Method ◽  
Form Solution ◽  
Motor Drives ◽  
Mechatronic Systems ◽  
Analytical Methodology ◽  
Point Trajectories ◽  
Point To Point ◽  
Theoretical Results ◽  
Energy Formulation

AbstractIn this work, an analytical methodology to minimize the energy expenditure of mechatronic systems performing point-to-point (PTP) trajectories based on well-known motion primitives is developed and validated. Both PTP trajectory profiles commonly used in industrial motor drives and more complex ones are investigated. Focusing on generic 1-DoF mechatronic systems moving a constant inertia load (e.g., elevators, cranes, CNC machines, Cartesian axis) and possibly equipped or retrofitted with regenerative devices, the consumed energy formulation is firstly derived. Then, the analytical optimization considering all the selected PTP trajectory profiles is computed and a generic closed-form solution is determined. Finally, numerical and experimental evaluations are done showing the effectiveness of the theoretical results and proposed methodology. In addition, all the different trajectories are compared with respect to energy consumption.

Nonlinear Isolator Optimization Using RMS Cost Function

2004 ◽  
Author(s):  
A. Narimani ◽  
M. F. Golnaraghi
Keyword(s):  
Closed Form Solution ◽  
Optimization Method ◽  
Relative Displacement ◽  
Form Solution ◽  
Jump Phenomenon ◽  
Nonlinear Parameters ◽  
Strongly Nonlinear ◽  
Damping Characteristics ◽  
Stiffness And Damping ◽  
Boundary Limits

In this paper using a modified averaging method the frequency response of a general nonlinear isolator is obtained. Stiffness and damping characteristics are considered cubic functions of displacement and velocity through the isolator. Analytical results are compared with those obtained by numerical integration in order to validate the closed form solution for strongly nonlinear isolator. While increasing the nonlinearity in the system improves the response of the isolator, stability and jump avoidance conditions set boundary limits for the parameters. The effects of nonlinear parameters to avoid jump phenomenon are discussed in detail. The set of parameters where the system behaves regularly are found and the nonlinear isolator is optimized based on RMS optimization method. Using this method the RMS function of absolute acceleration of the sprung mass is minimized versus the RMS function of relative displacement.

scholarly journals A Closed-Form Solution for Estimating the Accuracy of Circular Feature’ Pose for Object 2D-3D Pose Estimation System

2021 ◽  
Vol 2021 ◽  
pp. 1-17
Author(s):  
Cui Li ◽  
Derong Chen ◽  
Jiulu Gong ◽  
Yangyu Wu
Keyword(s):  
Closed Form ◽  
Covariance Matrix ◽  
Pose Estimation ◽  
Closed Form Solution ◽  
Optimization Method ◽  
Form Solution ◽  
Synthetic Image ◽  
Point Selection ◽  
3D Pose Estimation ◽  
Estimation System

Many objects in the real world have circular feature. In general, circular feature’s pose is represented by 5-DoF (degree of freedom) vector ξ = X , Y , Z , α , β T . It is a difficult task to measure the accuracy of circular feature’s pose in each direction and the correlation between each direction. This paper proposes a closed-form solution for estimating the accuracy of pose transformation of circular feature. The covariance matrix of ξ is used to measure the accuracy of the pose. The relationship between the pose of the circular feature of 3D object and the 2D points is analyzed to yield an implicit function, and then Gauss–Newton theorem is employed to compute the partial derivatives of the function with respect to such point, and after that the covariance matrix is computed from both the 2D points and the extraction error. In addition, the method utilizes the covariance matrix of 5-DoF circular feature’s pose variables to optimize the pose estimator. Based on pose covariance, minimize the mean square error (Min-MSE) metric is introduced to guide good 2D imaging point selection, and the total amount of noise introduced into the pose estimator can be reduced. This work provides an accuracy method for object 2D-3D pose estimation using circular feature. At last, the effectiveness of the method for estimating the accuracy is validated based on both random data sets and synthetic images. Various synthetic image sequences are illustrated to show the performance and advantages of the proposed pose optimization method for estimating circular feature’s pose.

Analysis and Optimal Synthesis of the RSCR Spatial Mechanism

1991 ◽  
Author(s):  
G. K. Ananthasuresh ◽  
Steven N. Kramer
Keyword(s):  
Closed Form ◽  
Closed Form Solution ◽  
Optimization Method ◽  
Form Solution ◽  
Mechanism Analysis ◽  
Motion Generation ◽  
Spatial Mechanism ◽  
Geometric Characteristics ◽  
Nonlinear Inequality ◽  
Nonlinear Inequality Constraints

Abstract The closed form solution of the analysis of the RSCR (Revolute-Spherical-Cylindrical-Revolute) spatial mechanism is presented in this paper. This work is based on the geometric characteristics of the mechanism involving the following three cases: the cone, the cylinder and the one-sheet hyperboloid. These cases derive their names from the nature of the locus of the slider of the linkage as viewed from the output side. Each case is then treated separately to develop a closed form, geometry based analysis technique. These analysis modules are then used to optimally synthesize the mechanism for function, path and motion generation problems satisfying precision conditions within prescribed accuracy limits. The Selective Precision Synthesis technique is employed to formulate the nonlinear inequality constraints. These constraints along with an objective function and other constraints are solved using the Generalized Reduced Gradient method of optimization. In addition, the use of mobility charts is used to aid the designer in making a judicious choice for the initial design point before invoking the optimization method. The determination of the transmission angle for the RSCR mechanism is also described and numerical examples for function, path and motion generation are also included. This new closed form method of analysis based on geometric characteristics is computationally less intensive than other available techniques for spatial mechanism analysis and helps in the visualization of the physical mechanism; something that is not possible with most vector and matrix methods.

Flow Analysis and Modeling of Field-Controllable, Electro- and Magneto-Rheological Fluid Dampers

2005 ◽  
Vol 74 (1) ◽  
pp. 13-22 ◽  
Author(s):  
Xiaojie Wang ◽  
Faramarz Gordaninejad
Keyword(s):  
Theoretical Model ◽  
Flow Analysis ◽  
Closed Form Solution ◽  
Nonlinear Behavior ◽  
Form Solution ◽  
Proposed Model ◽  
Fluid Dampers ◽  
Magneto Rheological ◽  
Er Fluid ◽  
Theoretical Results

This study combines a fluid mechanics-based approach and the Herschel-Bulkley constitutive equation to develop a theoretical model for predicting the behavior of field-controllable, magneto-rheological (MR), and electro-rheological (ER) fluid dampers. The goal is to provide an accurate theoretical model for analysis, design, and development of control algorithms of MR/ER dampers. Simplified explicit expressions for closed-form solution of the pressure drop across a MR fluid valve are developed. The Herschel-Bulkley quasi-steady flow analysis is extended to include the effect of fluid compressibility to account for the nonlinear dynamic behavior of MR/ER fluid dampers. The advantage of this model is that it only depends on geometric and material properties of the MR/ER material and the device. The theoretical results are validated by an experimental study. It is demonstrated that the proposed model can effectively predict the nonlinear behavior of field-controllable fluid dampers.

scholarly journals Added Mass and Damping of a Vibrating Rod in Confined Viscous Fluids

1976 ◽  
Vol 43 (2) ◽  
pp. 325-329 ◽  
Author(s):  
S. S. Chen ◽  
M. W. Wambsganss ◽  
J. A. Jendrzejczyk
Keyword(s):  
Experimental Data ◽  
Experimental Study ◽  
Cylindrical Shell ◽  
Closed Form Solution ◽  
Added Mass ◽  
Form Solution ◽  
Viscous Fluids ◽  
Series Of Experiments ◽  
Theoretical Results ◽  
Good Agreement

This paper presents an analytical and experimental study of a cylindrical rod vibrating in a viscous fluid enclosed by a rigid, concentric cylindrical shell. A closed-form solution for the added mass and damping coefficient is obtained and a series of experiments with cantilevered rods vibrating in various viscous fluids is performed. Experimental data and theoretical results are in good agreement.

scholarly journals Mobility analysis of a robotic cardiopulmonary resuscitation device

2021 ◽  
Author(s):  
Mahdi Ardestani ◽  
Mohsen Asgari
Keyword(s):  
Parallel Mechanism ◽  
Jacobian Matrix ◽  
Closed Form Solution ◽  
Parallel Manipulators ◽  
Optimization Method ◽  
Form Solution ◽  
Mobility Analysis ◽  
Chest Compressions ◽  
Singularity Problem ◽  
Lower Mobility

Abstract During chest compressions action, in CPR (CPR), the 2 arms of the rescuer constitute a parallel mechanism. Inspired by this performance, during this study a specific family of lower mobility parallel manipulators by employing a modified version of Delta robot is proposed for chest compressions in rescuing a patient. One of the biggest differences between this mechanism and the Delta parallel mechanism is that the position of the three active connections of the robot relative to each other has changed the geometry of the platforms. Also, it shapes the asymmetrical structure within the robot mechanism and its workspace. Another difference is due to the architectural optimization method considering the mixed performance index, which has been used during this mechanism to achieve a much better compromise between the manipulator dexterity and its workspace. Within the present paper, after introducing the architecture of the robot, a closed-form solution is developed for the kinematic problem and therefore the results are verified using MSC. Adams©. Then Jacobian matrix is generated to gauge the singularity problem of the proposed mechanism. then, the workspace of the robot is investigated and compared with the original Delta mechanism.

Slope Discontinuities in Pressure Vessels

1970 ◽  
Vol 37 (3) ◽  
pp. 587-595 ◽  
Author(s):  
C. R. Steele ◽  
J. Skogh
Keyword(s):  
Significant Variation ◽  
Weld Seam ◽  
Closed Form Solution ◽  
Pressure Vessels ◽  
Form Solution ◽  
Edge Zone ◽  
Slope Discontinuity ◽  
Theoretical Results ◽  
Maximum Stresses ◽  
Slope Discontinuities

A closed-form solution is obtained for the problem of a shell of revolution with a meridional slope discontinuity, which might occur at a weld seam in a pressure vessel. The effect of significant variation in the slope occurring within the usual “edge zone” and the nonlinear pressurization effect are taken into consideration. Graphs are presented from which maximum stresses can be easily computed for a wide variation of the parameters. The theoretical results agree with numerical values obtained from a computer program, even for shells that are relatively thick, for slope discontinuities that are relatively severe, and for high pressurization.

Analysis and Optimal Synthesis of the RSCR Spatial Mechanisms

1994 ◽  
Vol 116 (1) ◽  
pp. 174-181 ◽  
Author(s):  
G. K. Ananthasuresh ◽  
S. N. Kramer
Keyword(s):  
Closed Form ◽  
Closed Form Solution ◽  
Optimization Method ◽  
Form Solution ◽  
Mechanism Analysis ◽  
Motion Generation ◽  
Spatial Mechanism ◽  
Geometric Characteristics ◽  
Nonlinear Inequality ◽  
Nonlinear Inequality Constraints

A closed form solution of the analysis of the RSCR (Revolute-Spherical-Cylindrical-Revolute) spatial mechanism is presented in this paper. This work is based on the geometric characteristics of the mechanism involving the following three cases: the cone, the cylinder, and the one-sheet hyperboloid. These cases derive their names from the nature of the locus of the slider of the linkage as viewed from the output side. Each case is then treated separately to develop a closed form, geometry based analysis technique. These analysis modules are then used to optimally synthesize the mechanism for function, path and motion generation problems satisfying precision conditions within prescribed accuracy limits. The Selective Precision Synthesis technique is employed to formulate the nonlinear inequality constraints. These constraints along with an objective function and other constraints are solved using the Generalized Reduced Gradient method of optimization. In addition, mobility charts are used to aid the designer in making a judicious choice for the initial design point before invoking the optimization method. Numerical examples are presented to validate the theory. This new closed form method of analysis that is based on geometric characteristics is computationally less intensive than other available techniques for spatial mechanism analysis and helps in the visualization of the physical mechanism; something that is not possible with most vector and matrix methods.

Closed-Form Transient Response of Distributed Damped Systems, Part II: Energy Formulation for Constrained and Combined Systems

1996 ◽  
Vol 63 (4) ◽  
pp. 1004-1010 ◽  
Author(s):  
Bingen Yang
Keyword(s):  
Closed Form ◽  
Transient Response ◽  
Differential Operators ◽  
Equations Of Motion ◽  
Closed Form Solution ◽  
Form Solution ◽  
Response Analysis ◽  
Lumped Parameter ◽  
Damped Systems ◽  
Energy Formulation

The transient response analysis presented in Part I is generalized for distributed damped systems which are viscoelastically constrained or combined with lumped parameter systems. An energy formulation is introduced to regain symmetry for the spatial differential operators, which is destroyed in the original equations of motion by the constraints, and the coupling of distributed and lumped elements. As a result, closed-form solution is systematically obtained in eigenfunction series.

Dual quaternion-based inverse kinematics of the general spatial 7R mechanism

2008 ◽  
Vol 222 (8) ◽  
pp. 1593-1598 ◽  
Author(s):  
D Gan ◽  
Q Liao ◽  
S Wei ◽  
J S Dai ◽  
S Qiao
Keyword(s):  
Closed Form ◽  
Closed Form Solution ◽  
Inverse Kinematic ◽  
Form Solution ◽  
Dual Quaternion ◽  
Whole Process ◽  
Inverse Kinematic Analysis ◽  
Angular Displacements ◽  
Output Equation ◽  
Theoretical Results

The theory of dual quaternion and its use in serial mechanisms are described in this paper. A closed-form solution to the inverse kinematic analysis of the general 7-link 7R mechanism is presented. Dixon's resultant is used and the input—output equation is expressed in the form of a 6×6 determinant equated to zero, and the formulae to determine other angular displacements are expressed in the closed form. Numerical example confirms these theoretical results. The whole process is very simple and easy to program, which supplies a new method for the real use of the 7R mechanism.

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