Kinetostatic backflip strategy for self-recovery of quadruped robots with the selected rotation axis

Robotica ◽  
2021 ◽  
pp. 1-19
Author(s):  
Shengjie Wang ◽  
Kun Wang ◽  
Chunsong Zhang ◽  
Jian S Dai
Keyword(s):  
Optimal Design ◽  
Energy Analysis ◽  
Rotation Axis ◽  
Low Cost ◽  
Minimum Energy ◽  
Design Parameters ◽  
Quadruped Robots ◽  
Design Idea ◽  
The Relationship

Abstract A kinetostatic approach applied to the design of a backflip strategy for quadruped robots is proposed in this paper. Inspired by legged animals and taking the advantage of the leg workspace, this strategy provides an optimal design idea for the low-cost quadruped robots to achieve self-recovery after overturning. Through kinetostatic and energy analysis, a four-stepped backflip strategy based on the selected rotation axis with minimum energy is proposed, with a process of selection, lifting, rotating, and protection. The kinematic factors that affect the backflip are investigated, along with the relationship between the design parameters of the leg and trunk being analyzed. At the end of this paper, the strategy is validated by a simulation and experiments with a prototype called DRbot, demonstrating that the strategy endows the robot a strong self-recovery ability in various terrains.

Optimal Design of Underwater Shells With Active Stiffeners

2001 ◽  
Author(s):  
W. Akl ◽  
M. Ruzzene ◽  
A. Baz
Keyword(s):  
Optimal Design ◽  
Low Cost ◽  
Element Model ◽  
Design Parameters ◽  
Optimization Approach ◽  
Noise Radiation ◽  
Stiffened Shells ◽  
Shell Vibration ◽  
The Cost ◽  
Controllability And Observability

Abstract The optimal design parameters of fluid-loaded shells, provided with actively controlled stiffeners, are determined using a rational multi-criteria optimization approach. The adopted approach aims at simultaneously minimizing the shell vibration, associated sound radiation, weight of the stiffening rings, the control energy, and the cost of the shell/stiffeners assembly while maximizing the controllability and observability indices. A finite element model is presented to predict the vibration and noise radiation from cylindrical shells, with active stiffeners, into the surrounding fluid domain. The production cost as well as the life cycle and maintenance costs of the stiffened shells are computed using the Parametric Review of Information for Costing and Evaluation (PRICE) model. A Pareto/min-max multi-criteria optimization approach is then utilized to select the optimal locations and dimensions of the active stiffeners. Numerical examples are presented to compare the vibration and noise radiation characteristics of me optimally designed/controlled stiffened shells with the corresponding characteristics of plain un-stiffened and uncontrolled shells. The obtained results emphasize me importance of the adopted multi-criteria optimization approach in the design of quiet, low weight and low cost underwater shells which are suitable for various critical applications.

Mechanical Design of Wound Composite Impeller Using FEM

2010 ◽  
Author(s):  
Jifeng Wang ◽  
Mohit Patil ◽  
Jorge Olortegui-Yume ◽  
Norbert Mu¨ller
Keyword(s):  
High Performance ◽  
Mechanical Design ◽  
Low Cost ◽  
Design Parameters ◽  
Rotating Speed ◽  
Characteristics Analysis ◽  
High Performance Composite ◽  
The Relationship ◽  
Dynamic Characteristics Analysis ◽  
Wound Composite

A low-cost, light-weight, high-performance, composite turbomachinery impeller with uniquely designed blade patterns is analyzed. Such impellers can economically enable refrigeration plants to use water as a refrigerant (R718). A stress and vibration analyses procedure is developed to assess the maximum stresses and natural frequencies of these wound composite axial impellers under operating loading conditions using Finite Element Method. A commercially available software ANSYS is used for the FE calculations. Analysis is done for two different blade geometries and then suggestions are made for optimum design parameters. The relationship between impeller natural frequency and rotating speed is also determined based on dynamic characteristics analysis.

scholarly journals Calculation of airgap function and inductance using analytical modeling of rotor magnetic characteristics of an IPM motor under loaded condition

2021 ◽  
Author(s):  
BINITA NANDA ◽  
Praveen Kumar
Keyword(s):  
Optimal Design ◽  
Energy Conversion ◽  
Analytical Model ◽  
Motor Performance ◽  
Analytical Modeling ◽  
Design Parameters ◽  
Magnetic Characteristics ◽  
Design Phase ◽  
Initial Design ◽  
The Relationship

<div>This paper proposes an analytical model to calculate the airgap function and inductance, which can be used to get an optimal design during the initial design phase. It investigates the relationship between the design parameters of the rotor and the motor performance.</div><div><br></div><div>This paper is under review in IEEE Transactions on Energy Conversion.<br></div>

scholarly journals Design and Evaluation of Magnetic Hall Effect Tactile Sensors for Use in Sensorized Splints

Sensors ◽  
2020 ◽  
Vol 20 (4) ◽  
pp. 1123 ◽  
Author(s):  
Dominic Jones ◽  
Lefan Wang ◽  
Ali Ghanbari ◽  
Vasiliki Vardakastani ◽  
Angela E. Kedgley ◽  
...  
Keyword(s):  
Hall Effect ◽  
Mechanical Response ◽  
Low Cost ◽  
Measurement Range ◽  
Design Parameters ◽  
Great Promise ◽  
Tactile Sensors ◽  
Significant Difference ◽  
Applied Forces ◽  
The Relationship

Splinting techniques are widely used in medicine to inhibit the movement of arthritic joints. Studies into the effectiveness of splinting as a method of pain reduction have generally yielded positive results, however, no significant difference has been found in clinical outcomes between splinting types. Tactile sensing has shown great promise for the integration into splinting devices and may offer further information into applied forces to find the most effective methods of splinting. Hall effect-based tactile sensors are of particular interest in this application owing to their low-cost, small size, and high robustness. One complexity of the sensors is the relationship between the elastomer geometry and the measurement range. This paper investigates the design parameters of Hall effect tactile sensors for use in hand splinting. Finite element simulations are used to locate the areas in which sensitivity is high in order to optimise the deflection range of the sensor. Further simulations then investigate the mechanical response and force ranges of the elastomer layer under loading which are validated with experimental data. A 4 mm radius, 3 mm-thick sensor is identified as meeting defined sensing requirements for range and sensitivity. A prototype sensor is produced which exhibits a pressure range of 45 kPa normal and 6 kPa shear. A proof of principle prototype demonstrates how this can be integrated to form an instrumented splint with multi-axis sensing capability and has the potential to inform clinical practice for improved splinting.

scholarly journals Calculation of airgap function and inductance using analytical modeling of rotor magnetic characteristics of an IPM motor under loaded condition

2021 ◽  
Author(s):  
BINITA NANDA ◽  
Praveen Kumar
Keyword(s):  
Optimal Design ◽  
Energy Conversion ◽  
Analytical Model ◽  
Motor Performance ◽  
Analytical Modeling ◽  
Design Parameters ◽  
Magnetic Characteristics ◽  
Design Phase ◽  
Initial Design ◽  
The Relationship

<div>This paper proposes an analytical model to calculate the airgap function and inductance, which can be used to get an optimal design during the initial design phase. It investigates the relationship between the design parameters of the rotor and the motor performance.</div><div><br></div><div>This paper is under review in IEEE Transactions on Energy Conversion.<br></div>

scholarly journals Calculation of airgap function and inductance using analytical modeling of rotor magnetic characteristics of an IPM motor under loaded condition

2021 ◽  
Author(s):  
BINITA NANDA ◽  
Praveen Kumar
Keyword(s):  
Optimal Design ◽  
Energy Conversion ◽  
Analytical Model ◽  
Motor Performance ◽  
Analytical Modeling ◽  
Design Parameters ◽  
Magnetic Characteristics ◽  
Design Phase ◽  
Initial Design ◽  
The Relationship

<div>This paper proposes an analytical model to calculate the airgap function and inductance, which can be used to get an optimal design during the initial design phase. It investigates the relationship between the design parameters of the rotor and the motor performance.</div><div><br></div><div>This paper is under review in IEEE Transactions on Energy Conversion.<br></div>

IoT based e-Healthcare System to Enable Remote Patient Care based on Cloud Server

2017 ◽  
Vol 7 (7) ◽  
pp. 36
Author(s):  
P.Venu Gopala Rao ◽  
Eslavath Raja ◽  
Ramakrishna Gandi ◽  
G. Ravi Kumar
Keyword(s):  
Low Cost ◽  
Vital Signs ◽  
Smart Phone ◽  
Medical Professional ◽  
Design Parameters ◽  
Cloud Server ◽  
Significant Area ◽  
Efficient Data ◽  
System Data ◽  
Remote Patient

IoT (Internet of Things) has become most significant area of research to design an efficient data enabled services with the help of sensors. In this paper, a low-cost system design for e-healthcare service to process the sensitive health data is presented. Vital signs of the human body are measured from the patient location and shared with a registered medical professional for consultation. Temperature and heart rate are the major signals obtained from a patient for the initial build of the system. Data is sent to a cloud server where processing and analysis is provided for the medical professional to analyze. Secure transmission and dissemination of data through the cloud server is provided with an authentication system and the patient could be able to track his data through a smart phone on connecting to the cloud server. A prototype of the system along with its design parameters has been discussed.

Justification of design parameters of the fractional reaping conveyor and its devices for removal of beveled stems from under the wheels of the vehicle

2019 ◽  
Vol 1 (3) ◽  
pp. 1-10
Author(s):  
Mikhail M. Konstantinov ◽  
Ivan N. Glushkov ◽  
Sergey S. Pashinin ◽  
Igor I. Ognev ◽  
Tatyana V. Bedych
Keyword(s):  
Optimal Design ◽  
Technological Process ◽  
Design Parameters ◽  
Theoretical Studies ◽  
Optimal Parameters ◽  
Belt Conveyor ◽  
Grain Crops ◽  
Mode Of Operation ◽  
Optimal Values ◽  
Main Component

In this paper we consider the structural and technological process of the combine used in the process of separate harvesting of grain crops, as well as a number of its parameters. Among the main units of the combine, we allocate a conveyor and devices for removing beveled stems from under the wheels of the vehicle. The principle of operation of the conveyor at different phases of the Reaper and especially the removal of cut stems from under the wheels of the vehicle during operation of the Reaper. The results of theoretical studies on the establishment of the optimal design of the parameters of the belt conveyor are presented, the ranges of their optimal values are considered and determined. Studies on the establishment of optimal parameters of the screw divider in the Reaper, which is the main component of the device for removal of beveled stems, are presented. Taking into account the optimal design and mode of operation of the screw divider, the correct work is provided to remove the cut stems from under the wheels of the harvester.

DIAGNOSING QUALITY OF FRICTION SYSTEMS OF MECHANISMS OF DEVICES

2019 ◽  
Vol 1 (7) ◽  
pp. 10-13
Author(s):  
D. Yu. Ershov ◽  
I. N. Lukyanenko ◽  
E. E. Aman
Keyword(s):  
Surface Defects ◽  
Diagnostic Methods ◽  
Design Parameters ◽  
Diagnostic Model ◽  
Mechanical Assemblies ◽  
Local Defects ◽  
Relationship Of ◽  
The Relationship ◽  
Production And Operation

The article shows the need to develop diagnostic methods for monitoring the quality of lubrication systems, which makes it possible to study the dynamic processes of contacting elements of the friction systems of instrument mechanisms, taking into account roughness parameters, the presence of local surface defects of elements and the bearing capacity of a lubricant. In the present article, a modern diagnostic model has been developed to control the quality of the processes of production and operation of friction systems of instrument assemblies. With the help of the developed model, it becomes possible to establish the relationship of diagnostic and design parameters of the mechanical system, as well as the appearance of possible local defects and lubricant state, which characterize the quality of friction systems used in many mechanical assemblies of the mechanisms of devices. The research results are shown in the form of nomograms to assess the defects of the elements of friction mechanisms of the mechanisms of the devices.

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