Stability Improvement of Segway Based on Tire Model Using the SEA

Robotica ◽  
2020 ◽  
Vol 39 (1) ◽  
pp. 42-54
Author(s):  
Haneul Yun ◽  
Hongyu Zhang ◽  
Jangmyung Lee
Keyword(s):  
Tire Model ◽  
Safety Factors ◽  
Safety Devices ◽  
Series Elastic Actuator ◽  
Road Surfaces ◽  
Curved Paths ◽  
The Stability ◽  
Driving Stability ◽  
The Impact ◽  
Series Elastic

SUMMARYThis study proposes the use of a series elastic actuator (SEA) in a Segway to improve the stability of the tires during linear and curved driving, thus improving the comfort of the driver and ensuring driving stability. Recently, Segway has been developed continuously for intelligent mobile vehicles and the performance of Segway is being enhanced. Therefore, safety factors during the Segway driving have been considered seriously. In most of the developments and studies on Segway, the optimization and improvement of the controller component have been tackled and there are few studies on the safety devices and the stability of driving. The impact and vibration generated from the ground due to uneven road surfaces considerably influence the force exerted on the tire, which further affects driving stability. This research focuses on the control of the SEA based on the tire model to improve the driving stability of Segway. The performance of the proposed algorithm to improve the stability of the driver has been verified by straight and curved paths driving experiments with the tire model.

Design and simulation analysis of impact-resistant flexible drill pipe for rock-breaking rig

2021 ◽  
pp. 095745652110307
Author(s):  
Kangping Gao ◽  
Xinxin Xu ◽  
Ning Shi ◽  
Shengjie Jiao
Keyword(s):  
Impact Force ◽  
Drill Pipe ◽  
Rock Breaking ◽  
Control Model ◽  
Simulation Software ◽  
System Stability ◽  
Series Elastic Actuator ◽  
Pipe Model ◽  
The Impact ◽  
Series Elastic

In the process of drilling and coring by the rock-breaking rig, the drill rod is affected by the intermittent impact force, which reduces the efficiency of the rig to break the rock and increases the cost of the drilling and coring. Therefore, it is very important to improve the impact resistance of the drill pipe during the rock-breaking process. To achieve this goal, a flexible design of the drill pipe was carried out, and a dynamical model of the drilling rig based on a series elastic actuator was established. Considering the dynamic performance of the system, a torque feedforward link is introduced and a control model based on the force source is established. The influence of the equivalent inertia of the transmission system and the series elastic actuator damping coefficient on the system stability was analyzed by drawing the frequency domain characteristic curve of the system. By using the control and Simulink simulation software, the electromechanical simulation of the model is carried out, and the torque step tracking response of the system is obtained. A torque feedforward link is introduced to establish the control model of the system based on force source. Through dynamic simulation software ADAMS, dynamic and static impact simulation experiments were carried out on the system. The results show that when a force of 200 N is applied to the output end of the drill pipe in the tangential direction, the maximum moments received by the joint under static and dynamic environments are 34.1 N·m and 57.9 N·m, respectively. When the impact force disappears, the time required for the flexible drill pipe to reach a stable state is only 0.15 s, which verifies that the series elastic actuator–based drill pipe model can alleviate the impact of the external environment and protect the internal structure of the rig.

High speed segway control with series elastic actuator for driving stability improvement

2019 ◽  
Vol 33 (11) ◽  
pp. 5449-5459 ◽  
Author(s):  
Haneul Yun ◽  
Jinuk Bang ◽  
Jihyeon Kim ◽  
Jangmyung Lee
Keyword(s):  
High Speed ◽  
Series Elastic Actuator ◽  
Driving Stability ◽  
Series Elastic

Dietary Vitamin and Stability of Oral Anticoagulation: Proposal of a Diet with Constant Vitamin K1 Content

1997 ◽  
Vol 77 (03) ◽  
pp. 504-509 ◽  
Author(s):  
Sarah L Booth ◽  
Jacqueline M Charnley ◽  
James A Sadowski ◽  
Edward Saltzman ◽  
Edwin G Bovill ◽  
...  
Keyword(s):  
Dietary Intake ◽  
Vitamin K ◽  
High Performance ◽  
Case Reports ◽  
Food Composition ◽  
Dietary Guidelines ◽  
Dietary Vitamin ◽  
Vitamin K1 ◽  
The Stability ◽  
The Impact

SummaryCase reports cited in Medline or Biological Abstracts (1966-1996) were reviewed to evaluate the impact of vitamin K1 dietary intake on the stability of anticoagulant control in patients using coumarin derivatives. Reported nutrient-drug interactions cannot always be explained by the vitamin K1 content of the food items. However, metabolic data indicate that a consistent dietary intake of vitamin K is important to attain a daily equilibrium in vitamin K status. We report a diet that provides a stable intake of vitamin K1, equivalent to the current U.S. Recommended Dietary Allowance, using food composition data derived from high-performance liquid chromatography. Inconsistencies in the published literature indicate that prospective clinical studies should be undertaken to clarify the putative dietary vitamin K1-coumarin interaction. The dietary guidelines reported here may be used in such studies.

IMPACT OF GOVERNMENT DEBT ON FINANCIAL SECURITY OF UKRAINE

2017 ◽  
Author(s):  
Olena Pikaliuk ◽  
◽  
Dmitry Kovalenko ◽  
Keyword(s):  
Economic Development ◽  
Public Debt ◽  
Positive Impact ◽  
The State ◽  
Financial Security ◽  
State Budget ◽  
The Public ◽  
Debt Security ◽  
The Stability ◽  
The Impact

One of the main criteria for economic development is the size of the public debt and its dynamics. The article considers the impact of public debt on the financial security of Ukraine. The views of scientists on the essence of public debt and financial security of the state are substantiated. An analysis of the dynamics and structure of public debt of Ukraine for 2014-2019. It is proved that one of the main criteria for economic development is the size of public debt and its dynamics. State budget deficit, attracting and using loans to cover it have led to the formation and significant growth of public debt in Ukraine. The volume of public debt indicates an increase in the debt security of the state, which is a component of financial security. Therefore, the issue of the impact of public debt on the financial security of Ukraine is becoming increasingly relevant. The constant growth and large amounts of debt make it necessary to study it, which will have a positive impact on economic processes that will ensure the stability of the financial system and enhance its security.

Influence of internal and external risks on sustainability of financial system of Аltai krai

2018 ◽  
Vol 35 (4) ◽  
pp. 133-136
Author(s):  
R. N. Ibragimov
Keyword(s):  
Sustainable Development ◽  
Financial Stability ◽  
Management Strategy ◽  
Financial System ◽  
Risk Management Strategy ◽  
The Sustainable Development ◽  
The Stability ◽  
The Impact

The article examines the impact of internal and external risks on the stability of the financial system of the Altai Territory. Classification of internal and external risks of decline, affecting the sustainable development of the financial system, is presented. A risk management strategy is proposed that will allow monitoring of risks, thereby these measures will help reduce the loss of financial stability and ensure the long-term development of the economy of the region.

scholarly journals Influence of Whey Protein Micro-Gel Particles and Whey Protein Micro-Gel Particles-Xanthan Gum Complexes on the Stability of O/W Emulsions

Polymers ◽  
2021 ◽  
Vol 13 (14) ◽  
pp. 2301
Author(s):  
Man Zhang ◽  
Bin Liang ◽  
Hongjun He ◽  
Changjian Ji ◽  
Tingting Cui ◽  
...  
Keyword(s):  
Oxidative Stability ◽  
Whey Protein ◽  
High Speed ◽  
Xanthan Gum ◽  
Physical Stability ◽  
Theoretical Support ◽  
Gel Particles ◽  
Oil In Water ◽  
The Stability ◽  
The Impact

Appropriate pretreatment of proteins and addition of xanthan gum (XG) has the potential to improve the stability of oil-in-water (O/W) emulsions. However, the factors that regulate the enhancement and the mechanism are still not clear, which restricts the realization of improving the emulsion stability by directional design of its structure. Therefore, the effects of whey protein micro-gel particles (WPMPs) and WPMPs-XG complexes on the stability of O/W emulsion were investigated in this article to provide theoretical support. WPMPs with different structures were prepared by pretreatment (controlled high-speed shear treatment of heat-set WPC gels) at pH 3.5–8.5. The impact of initial WPC structure and XG addition on Turbiscan Indexes, mean droplet size and the peroxide values of O/W emulsions was investigated. The results indicate that WPMPs and XG can respectively inhibit droplet coalescence and gravitational separation to improve the physical stability of WPC-stabilized O/W emulsions. The pretreatment significantly enhanced the oxidative stability of WPC-stabilized O/W emulsions. The addition of XG did not necessarily enhance the oxidative stability of O/W emulsions. Whether the oxidative stability of the O/W emulsion with XG is increased or decreased depends on the interface structure of the protein-XG complex. This study has significant implications for the development of novel structures containing lipid phases that are susceptible to oxidation.

scholarly journals Post-Processing Techniques for the Improvement of Liposome Stability

Pharmaceutics ◽  
2021 ◽  
Vol 13 (7) ◽  
pp. 1023
Author(s):  
Ji Young Yu ◽  
Piyanan Chuesiang ◽  
Gye Hwa Shin ◽  
Hyun Jin Park
Keyword(s):  
Freeze Drying ◽  
Protective Agent ◽  
Post Processing ◽  
Additional Process ◽  
Spray Freeze Drying ◽  
The Stability ◽  
Processing Techniques ◽  
The Impact ◽  
Self Aggregation ◽  
Liposome Stability

Liposomes have been utilized as a drug delivery system to increase the bioavailability of drugs and to control the rate of drug release at the target site of action. However, the occurrence of self-aggregation, coalescence, flocculation and the precipitation of aqueous liposomes during formulation or storage can cause degradation of the vesicle structure, leading to the decomposition of liposomes. To increase the stability of liposomes, post-processing techniques have been applied as an additional process to liposomes after formulation to remove water and generate dry liposome particles with a higher stability and greater accessibility for drug administration in comparison with aqueous liposomes. This review covers the effect of these techniques including freeze drying, spray drying and spray freeze drying on the stability, physicochemical properties and drug encapsulation efficiency of dry liposomes. The parameters affecting the properties of liposomes during the drying process are also highlighted in this review. In addition, the impact of using a protective agent to overcome such limitations of each process is thoroughly discussed through various studies.

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