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

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.

scholarly journals Novel Remanence Determination for Power Transformers Based on Magnetizing Inductance Measurements

Energies ◽  
2019 ◽  
Vol 12 (24) ◽  
pp. 4616
Author(s):  
Chen Wei ◽  
Xianqiang Li ◽  
Ming Yang ◽  
Zhiyuan Ma ◽  
Hui Hou
Keyword(s):  
Numerical Simulations ◽  
Laboratory Experiments ◽  
Power Transformer ◽  
Power Transformers ◽  
Inrush Current ◽  
The Core ◽  
Novel Method ◽  
Simulation Results ◽  
Electro Magnetic ◽  
The Relationship

The remanence (residual flux) in the core of power transformers needs to be determined in advance to eliminate the inrush current during the process of re-energization. In this paper, a novel method is proposed to determine the residual flux based on the relationship between residual flux and the measured magnetizing inductance. The paper shows physical, numerical, and analytical explanations on the phenomenon that the magnetizing inductance decreases with the increase of residual flux under low excitation. Numerical simulations are performed by EMTP (Electro-Magnetic Transient Program) on a 1 kVA power transformer under different amounts of residual flux. The inductance–remanence curves are nearly the same when testing current changes. Laboratory experiments conducted on the same transformer are in line with the numerical simulations. Furthermore, numerical simulation results on a 240 MVA are reported to demonstrate the effectiveness of the proposed method.

Model Predictive Control of a Differential-Drive Mobile Robot

2018 ◽  
Vol 10 (1) ◽  
pp. 20-41
Author(s):  
Samir Bouzoualegh ◽  
El-Hadi Guechi ◽  
Ridha Kelaiaia
Keyword(s):  
Mathematical Model ◽  
Model Predictive Control ◽  
Mobile Robot ◽  
Predictive Control ◽  
Control Law ◽  
Input Output ◽  
Linearization Technique ◽  
Differential Drive ◽  
Predictive Controller ◽  
Simulation Results

Abstract This paper presents a model predictive control (MPC) for a differential-drive mobile robot (DDMR) based on the dynamic model. The robot’s mathematical model is nonlinear, which is why an input–output linearization technique is used, and, based on the obtained linear model, an MPC was developed. The predictive control law gains were acquired by minimizing a quadratic criterion. In addition, to enable better tuning of the obtained predictive controller gains, torques and settling time graphs were used. To show the efficiency of the proposed approach, some simulation results are provided.

Modulation instability in nonlinear chiral fiber

2020 ◽  
Vol 0 (0) ◽  
Author(s):  
Demissie Jobir Gelmecha ◽  
Ram Sewak Singh
Keyword(s):  
Theoretical Model ◽  
Numerical Simulations ◽  
Pulse Propagation ◽  
Modulation Instability ◽  
Constitutive Relations ◽  
Gain Spectrum ◽  
Circularly Polarized ◽  
Left Handed ◽  
Simulation Results ◽  
The Difference

AbstractIn this paper, the rigorous derivations of generalized coupled chiral nonlinear Schrödinger equations (CCNLSEs) and their modulation instability analysis have been explored theoretically and computationally. With the consideration of Maxwell’s equations and Post’s constitutive relations, a generalized CCNLSE has been derived, which describes the evolution of left-handed circularly polarized (LCP) and right-handed circularly polarized (RCP) components propagating through single-core nonlinear chiral fiber. The analysis of modulation instability in nonlinear chiral fiber has been investigated starting from CCNLSEs. Based on a theoretical model and numerical simulations, the difference on the modulation instability gain spectrum in LCP and RCP components through chiral fiber has been analyzed by considering loss and chirality into account. The obtained simulation results have shown that the loss distorts the sidebands of the modulation instability gain spectrum, while chirality modulates the gain for LCP and RCP components in a different manner. This suggests that adjusting chirality strength may control the loss, and nonlinearity simultaneously provides stable modulated pulse propagation.

scholarly journals Spatiotemporal Patterns Formed by a Discrete Nutrient-Phytoplankton Model with Time Delay

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-18
Author(s):  
Feifan Zhang ◽  
Wenjiao Zhou ◽  
Lei Yao ◽  
Xuanwen Wu ◽  
Huayong Zhang
Keyword(s):  
Steady State ◽  
Time Delay ◽  
Numerical Simulations ◽  
Functional Response ◽  
Bifurcation Analysis ◽  
Discrete Model ◽  
Continuous Model ◽  
Spatiotemporal Patterns ◽  
Homogeneous Steady State ◽  
Simulation Results

In this research, a continuous nutrient-phytoplankton model with time delay and Michaelis–Menten functional response is discretized to a spatiotemporal discrete model. Around the homogeneous steady state of the discrete model, Neimark–Sacker bifurcation and Turing bifurcation analysis are investigated. Based on the bifurcation analysis, numerical simulations are carried out on the formation of spatiotemporal patterns. Simulation results show that the diffusion of phytoplankton and nutrients can induce the formation of Turing-like patterns, while time delay can also induce the formation of cloud-like pattern by Neimark–Sacker bifurcation. Compared with the results generated by the continuous model, more types of patterns are obtained and are compared with real observed patterns.

A Robust Trajectory Tracking Control Scheme of Two-Link Flexible Manipulator

2011 ◽  
Vol 328-330 ◽  
pp. 2108-2112
Author(s):  
Jing Shuang Lu ◽  
Chun Mei Du ◽  
Rui Zhou ◽  
Na Li
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Vertical Plane ◽  
Flexible Manipulator ◽  
System Model ◽  
Error Signal ◽  
Dynamics Model ◽  
Trajectory Tracking Control ◽  
Control Scheme ◽  
Simulation Results

A simple dynamics model is established based on the two-link flexible manipulator moving within the vertical plane, and a robust simple control scheme is put forward. The advantages of this scheme are simple and good robustness. Only the error signal is needed when designing the control scheme and the acquirement of control signal does not depend on the system model. The simulation results show that this method has a good robustness and stability.

The penetration and ricochet of ogive-nosed rigid projectiles obliquely impacting metallic targets

2021 ◽  
pp. 204141962110377
Author(s):  
Yaniv Vayig ◽  
Zvi Rosenberg
Keyword(s):  
Experimental Data ◽  
Numerical Simulations ◽  
Dynamic Pressure ◽  
Oblique Impacts ◽  
Simulation Results ◽  
The Impact ◽  
Penetration Depths ◽  
Resistance To Penetration ◽  
Good Agreement

A large number of 3D numerical simulations were performed in order to follow the trajectory changes of rigid CRH3 ogive-nosed projectiles, impacting semi-infinite metallic targets at various obliquities. These trajectory changes are shown to be related to the threshold ricochet angles of the projectile/target pairs. These threshold angles are the impact obliquities where the projectiles end up moving in a path parallel to the target’s face. They were found to depend on a non-dimensional entity which is equal to the ratio between the target’s resistance to penetration and the dynamic pressure exerted by the projectile upon impact. Good agreement was obtained by comparing simulation results for these trajectory changes with experimental data from several published works. In addition, numerically-based relations were derived for the penetration depths of these ogive-nosed projectiles at oblique impacts, which are shown to agree with the simulation results.

Study of Rider Model for Motorcycle Racing Simulation

2020 ◽  
Author(s):  
Masatsugu Nishimura ◽  
Yoshitaka Tezuka ◽  
Enrico Picotti ◽  
Mattia Bruschetta ◽  
Francesco Ambrogi ◽  
...  
Keyword(s):  
Predictive Control ◽  
Running Speed ◽  
Steering Angle ◽  
Conventional Model ◽  
Linear Region ◽  
New Model ◽  
Constant Radius ◽  
Simulation Results ◽  
Braking Force ◽  
Motorcycle Dynamics

Various rider models have been proposed that provide control inputs for the simulation of motorcycle dynamics. However, those models are mostly used to simulate production motorcycles, so they assume that all motions are in the linear region such as those in a constant radius turn. As such, their performance is insufficient for simulating racing motorcycles that experience quick acceleration and braking. Therefore, this study proposes a new rider model for racing simulation that incorporates Nonlinear Model Predictive Control. In developing this model, it was built on the premise that it can cope with running conditions that lose contact with the front wheels or rear wheels so-called "endo" and "wheelie", which often occur during running with large acceleration or deceleration assuming a race. For the control inputs to the vehicle, we incorporated the lateral shift of the rider's center of gravity in addition to the normally used inputs such as the steering angle, throttle position, and braking force. We compared the performance of the new model with that of the conventional model under constant radius cornering and straight braking, as well as complex braking and acceleration in a single (hairpin) corner that represented a racing run. The results showed that the new rider model outperformed the conventional model, especially in the wider range of running speed usable for a simulation. In addition, we compared the simulation results for complex braking and acceleration in a single hairpin corner produced by the new model with data from an actual race and verified that the new model was able to accurately simulate the run of actual MotoGP riders.

Numerical Modeling of Multi-Frequency Complex Dielectric Permittivity Dispersion of Sedimentary Rocks

Geophysics ◽  
2021 ◽  
pp. 1-69
Author(s):  
Artur Posenato Garcia ◽  
Zoya Heidari
Keyword(s):  
Numerical Simulation ◽  
Dielectric Permittivity ◽  
Numerical Simulations ◽  
Dielectric Response ◽  
Water Saturation ◽  
Pore Scale ◽  
Simulation Results ◽  
Wet Rocks ◽  
Permittivity Measurements ◽  
The Impact

The dielectric response of rocks results from electric double layer (EDL), Maxwell-Wagner (MW), and dipolar polarizations. The EDL polarization is a function of solid-fluid interfaces, pore water, and pore geometry. MW and dipolar polarizations are functions of charge accumulation at the interface between materials with contrasting impedances and the volumetric concentration of its constituents, respectively. However, conventional interpretation of dielectric measurements only accounts for volumetric concentrations of rock components and their permittivities, not interfacial properties such as wettability. Numerical simulations of dielectric response of rocks provides an ideal framework to quantify the impact of wettability and water saturation ( Sw) on electric polarization mechanisms. Therefore, in this paper we introduce a numerical simulation method to compute pore-scale dielectric dispersion effects in the interval from 100 Hz to 1 GHz including impacts of pore structure, Sw, and wettability on permittivity measurements. We solve the quasi-electrostatic Maxwell's equations in three-dimensional (3D) pore-scale rock images in the frequency domain using the finite volume method. Then, we verify simulation results for a spherical material by comparing with the corresponding analytical solution. Additionally, we introduce a technique to incorporate α-polarization to the simulation and we verify it by comparing pore-scale simulation results to experimental measurements on a Berea sandstone sample. Finally, we quantify the impact of Sw and wettability on broadband dielectric permittivity measurements through pore-scale numerical simulations. The numerical simulation results show that mixed-wet rocks are more sensitive than water-wet rocks to changes in Sw at sub-MHz frequencies. Furthermore, permittivity and conductivity of mixed-wet rocks have weaker and stronger dispersive behaviors, respectively, when compared to water-wet rocks. Finally, numerical simulations indicate that conductivity of mixed-wet rocks can vary by three orders of magnitude from 100 Hz to 1 GHz. Therefore, Archie’s equation calibrated at the wrong frequency could lead to water saturation errors of 73%.

scholarly journals Numerical Simulations of V-Shaped Plates Subjected to Blast Loadings: A Validation Study

2016 ◽  
Vol 10 (11) ◽  
pp. 203
Author(s):  
Mohd Zaid Othman ◽  
Qasim H. Shah ◽  
Muhammad Akram Muhammad Khan ◽  
Tan Kean Sheng ◽  
M. A. Yahaya ◽  
...  
Keyword(s):  
Numerical Simulation ◽  
Numerical Simulations ◽  
Variable Mass ◽  
Blast Loading ◽  
Experimental Results ◽  
Average Difference ◽  
Simulation Results ◽  
Blast Loadings ◽  
Carrier Vehicle ◽  
Good Agreement

A series of numerical simulations utilizing LS-DYNA was performed to determine the mid-point deformations of V-shaped plates due to blast loading. The numerical simulation results were then compared with experimental results from published literature. The V-shaped plate is made of DOMEX 700 and is used underneath an armour personal carrier vehicle as an anti-tank mine to mitigate the effects of explosion from landmines in a battlefield. The performed numerical simulations of blast loading of V-shaped plates consisted of various angles i.e. 60°, 90°, 120°, 150° and 180°; variable mass of explosives located at the central mid-point of the V-shaped vertex with various stand-off distances. It could be seen that the numerical simulations produced good agreement with the experimental results where the average difference was about 26.6%.

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