Notes on the design process of a responsive sun-shading system: A case study of designer and user explorations supported by computational tools

2015 ◽  
Vol 29 (4) ◽  
pp. 483-502 ◽  
Author(s):  
Rodrigo Velasco ◽  
Rubén Hernández ◽  
Nicolás Marrugo ◽  
César Díaz
Keyword(s):  
High Performance ◽  
Degrees Of Freedom ◽  
Computational Simulation ◽  
Design Parameters ◽  
System A ◽  
Light Requirements ◽  
Unit Module ◽  
Definition Of ◽  
And Control ◽  
Digital Simulations

AbstractResponding to growing concerns regarding energy-efficient facades, this paper describes the structure and process followed in the design of a responsive sun-shading system based on the use of rotating plates with two degrees of freedom. The proposal considers, among others, the definition of variable design parameters, areas of performance evaluation and control, and construction detailing development represented by a first 1:2 unit (module) model. In the process, computational simulation procedures were employed to explore configurational possibilities that would provide high-performance solutions to the light requirements of the particular covered spaces. In developing the system, it was noticed that due to the highly subjective requirements of users in terms of quantity and quality of lighting, a purely Boolean control system would not always be appropriate. Following from that, and taking advantage of the dynamic nature of the system, a further approach of control supported by fuzzy logic was also implemented at the operative state, whose logic is explained. Digital simulations were carried out to assess the performance of the system, and their results demonstrate more even light distribution levels compared to traditional systems.

Wheel-Based Stair Climbing Robot with Hopping Mechanism – Demonstration of Continuous Stair Climbing Using Vibration –

2008 ◽  
Vol 20 (2) ◽  
pp. 221-227 ◽  
Author(s):  
Yuji Asai ◽  
◽  
Yasuhiro Chiba ◽  
Keisuke Sakaguchi ◽  
Naoki Bushida ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Mechanical Design ◽  
Stair Climbing ◽  
Design Parameters ◽  
Mass Ratio ◽  
Climbing Robot ◽  
Soft Landing ◽  
Hopping Mechanism ◽  
And Control ◽  
Two Bodies

We propose a simple hopping mechanism using vibration of a two-degrees-of-freedom (2-DOF) system for a fast stair-climbing robot. The robot, consisting of two bodies connected by springs and a wire, hops by releasing energy stored in springs and travels quickly using wheels mounted on its lower body. The trajectories of bodies during hopping change based on mechanical design parameters such as reduced mass of the two bodies, the mass ratio between the upper and lower bodies, and spring constant, and control parameters such as initial contraction of the spring and wire tension. This property allows the robot to quickly and economically climb stairs and land softly without complex control. In this paper, we propose a mathematical model of the robot and investigate required tread length for continuous hopping to climb a flight of stairs. Furthermore, we demonstrate fast stair-climbing and soft landing for a flight of stairs in experiments.

scholarly journals Wheel-Based Stair Climbing Robot with Hopping Mechanism - Fast Stair Climbing and Soft Landing Using Vibration of 2-DOF System -

2007 ◽  
Vol 19 (3) ◽  
pp. 258-263 ◽  
Author(s):  
Keisuke Sakaguchi ◽  
◽  
Takayuki Sudo ◽  
Naoki Bushida ◽  
Yasuhiro Chiba ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Stair Climbing ◽  
Design Parameters ◽  
Control Parameters ◽  
Mass Ratio ◽  
Climbing Robot ◽  
Soft Landing ◽  
Hopping Mechanism ◽  
And Control ◽  
Two Bodies

We propose a simple hopping mechanism using the vibration of a two-degrees-of-freedom (DOF) system for a fast stair-climbing robot. The robot, consisting of two bodies connected by springs, hops by releasing energy stored in springs and travels quickly using wheels mounted on its lower body. The trajectories of bodies during hopping change based on design parameters such as the reduced mass of the two bodies, mass ratio between the upper and lower bodies, spring constant, and control parameters such as initial contraction of the spring and wire tension. This property allows the robot to quickly and economically climb stairs and land softly. In this paper, the characteristics of hopping for the design and control parameters are clarified by both numerical simulation and experiments. Furthermore, fast stair climbing and soft landing are demonstrated.

On the Lateral Stability and Control of the Automobile as Influenced by the Dynamics of the Steering System

1966 ◽  
Vol 88 (3) ◽  
pp. 283-294 ◽  
Author(s):  
Leonard Segel
Keyword(s):  
Degrees Of Freedom ◽  
Steering System ◽  
Degree Of Freedom ◽  
Design Parameters ◽  
Steering Wheel ◽  
Directional Control ◽  
Natural Modes Of Motion ◽  
Three Degree Of Freedom ◽  
And Control ◽  
Automobile Use

Measurements of the directional response of an automobile to torque inputs applied at the steering wheel are compared with predictions yielded by a five-degree-of-freedom model of a four-wheeled, pneumatic-tired vehicle. This comparison demonstrates that the directional control and stability of the “free-control” automobile is satisfactorily characterized by the addition of a quasilinear representation of a steering system (i.e., a mechanism having two degrees of freedom with Coulomb friction introduced as the single nonlinear element) to a linear three-degree-of-freedom representation of the “fixed-control” automobile. Use is made of the experimentally substantiated five-degree-of-freedom mathematical model to study the relationship between automotive design parameters and the response and stability in each of the four natural modes of motion that exist for the free-control vehicle.

Active Vibration Control of Two Coupled Beams Using Descriptor System State Feedback

2010 ◽  
Author(s):  
Maximilian Manderla ◽  
Jan Schlake ◽  
Ulrich Konigorski
Keyword(s):  
Degrees Of Freedom ◽  
Active Vibration Control ◽  
Algebraic Model ◽  
Descriptor System ◽  
Control Law ◽  
System A ◽  
Feedback Design ◽  
Active Vibration ◽  
Coupled Beams ◽  
And Control

Based on two stiffly-coupled beams a non-standard approach of modelling and control is introduced, which is based on a descriptor representation of the system. A differential-algebraic model of the mechanical system can be derived intuitively, which directly serves for feedback design. The main contribution of this work is the presentation of a suitable parametric control law in terms of the full set of descriptor states. It is based on a classical coupling control and explicitly shows all degrees of freedom for feedback design. Exemplarily, damping assignment for the two-beam system is performed and some numerical and experimental results are provided for validation.

Design and analysis of an active gimbal simulator with three degrees-of-freedom for ground testing

2018 ◽  
Vol 233 (7) ◽  
pp. 2552-2562
Author(s):  
Jiao Jia ◽  
Yingmin Jia ◽  
Shihao Sun
Keyword(s):  
Degrees Of Freedom ◽  
Attitude Determination ◽  
Contact Forces ◽  
Design Parameters ◽  
Force Analysis ◽  
Ground Testing ◽  
Neutral Equilibrium ◽  
Main Support ◽  
And Control ◽  
Three Degrees Of Freedom

In this paper, a new active gimbal simulator is developed for testing the attitude determination and control system of satellites. The active gimbal simulator is composed of a rolling joint, a pitching joint, a main support frame, an active yawing joint, and a fixture. The rolling joint enables the active gimbal simulator to be applied to the columnar satellite without the fixture. The contact forces between the rolling joint and the test satellite (or the fixture) can be regulated by the support of the pitching joint. The object attached to the active gimbal simulator is at neutral equilibrium and can maintain balance at an arbitrary attitude. Hence, the object can rotate freely without being affected by its gravity. The active gimbal simulator is an approximately free-to-free suspension or support method. Compared with the traditional gimbals, the active gimbal simulator can be applied to objects of arbitrary shape especially cylinders and the effect of exogenous mass and inertia introduced by the connection mechanism is reduced. The design parameters of the active gimbal simulator are optimized based on the force analysis. A specific prototype was made, and its feasibility was verified by laboratory-based experiments.

Aspects of Parameter Sensitivity for Series Hydraulic Hybrid Light-Weight Duty Vehicle Design

2016 ◽  
Author(s):  
Katharina Baer ◽  
Liselott Ericson ◽  
Petter Krus
Keyword(s):  
Design Parameters ◽  
Drive Cycle ◽  
Hydraulic Hybrid ◽  
Component Sizing ◽  
Alternative Approach ◽  
Simulation Based ◽  
Simulation Based Optimization ◽  
Hydraulic Hybrid Vehicle ◽  
Definition Of ◽  
And Control

Hybridization of a vehicle’s drivetrain can in principle help to improve its energy efficiency by allowing for recuperation of kinetic energy and modulating the engine’s load. How well this can be realized depends on appropriate sizing and control of the additional components. The system is typically designed sequentially, with the hardware setup preceding the development and tuning of advanced controller architectures. Taking an alternative approach, component sizing and controller tuning can be addressed simultaneously through simulation-based optimization. The results of such optimizations, especially with standard algorithms with continuous design variable ranges, can however be difficult to realize, considering for example limitations in available components. Furthermore, drive-cycle based optimizations are prone to cycle-beating. This paper examines the results of such simulation-based optimization for a series hydraulic hybrid vehicle in terms of sensitivity to variations in design parameters, system parameters and drive cycle variations. Additional relevant aspects concerning the definition of the optimization problem are pointed out.

scholarly journals Design, Dynamics, and Workspace of a Hybrid-Driven-Based Cable Parallel Manipulator

2013 ◽  
Vol 2013 ◽  
pp. 1-15 ◽  
Author(s):  
Bin Zi ◽  
Jianbin Cao ◽  
Zhencai Zhu ◽  
Peter Mitrouchev
Keyword(s):  
Parallel Manipulator ◽  
High Performance ◽  
Degrees Of Freedom ◽  
High Efficiency ◽  
Parallel Manipulators ◽  
Euler Method ◽  
Heavy Load ◽  
Physical Prototype ◽  
Manipulator Design ◽  
And Control

The design, dynamics, and workspace of a hybrid-driven-based cable parallel manipulator (HDCPM) are presented. The HDCPM is able to perform high efficiency, heavy load, and high-performance motion due to the advantages of both the cable parallel manipulator and the hybrid-driven planar five-bar mechanism. The design is performed according to theories of mechanism structure synthesis for cable parallel manipulators. The dynamic formulation of the HDCPM is established on the basis of Newton-Euler method. The workspace of the manipulator is analyzed additionally. As an example, a completely restrained HDCPM with 3 degrees of freedom is studied in simulation in order to verify the validity of the proposed design, workspace, and dynamic analysis. The simulation results, compared with the theoretical analysis, and the case study previously performed show that the manipulator design is reasonable and the mathematical models are correct, which provides the theoretical basis for future physical prototype and control system design.

scholarly journals Modeling and Control of the MARES Autonomous Underwater Vehicle

2010 ◽  
Vol 44 (2) ◽  
pp. 19-36 ◽  
Author(s):  
Bruno Ferreira ◽  
Aníbal Matos ◽  
Nuno Cruz ◽  
Miguel Pinto
Keyword(s):  
Degrees Of Freedom ◽  
Autonomous Underwater Vehicle ◽  
General Procedure ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Lyapunov Theory ◽  
Control Laws ◽  
Modeling And Control ◽  
Definition Of ◽  
And Control

AbstractIn this work, we address the modeling and control problems in the domain of underwater vehicles. We focus on a prototype of an autonomous underwater vehicle. Although the work presented here is applied to a particular vehicle with four controllable degrees of freedom, the method may be easily extended to several submerged bodies. In the engineering area, modeling of systems is done frequently, as it yields a mathematical translation of their behavior. Since models can become an important tool to solve problems related to its motion or even to the design of controllers, we obtain a model with six degrees of freedom for such a vehicle.Robust control of underwater vehicles is an area in which many efforts were applied over the last two decades. However, due to nonlinear dynamics, it may be hard to design robust controllers that yield the expected behavior, and there is no general procedure to develop them. Here, we propose an approach that combines nonlinear controllers based on the deduced model and on the Lyapunov theory to control the velocities of the vehicle with linear controllers that control the vehicle’s position. We derive control laws to perform several maneuvers, both in the vertical and the horizontal planes, in a decoupled way, which is made possible through the configuration of thrusters. Finally, we present realistic simulations and experimental results that validate the proposed approach in the definition of the control laws.

Modelling of an Electrohydraulically-Activated Friction Damper in a Vehicle Application

2001 ◽  
Author(s):  
Emanuele Guglielmino ◽  
Kevin A. Edge
Keyword(s):  
Degrees Of Freedom ◽  
Hydraulic Drive ◽  
Variable Structure ◽  
Friction Damper ◽  
Structure Control ◽  
Leakage Flows ◽  
System A ◽  
Car Suspension ◽  
Valve Leakage ◽  
And Control

Abstract This paper is concerned with the modelling and control of a servo-driven dry-friction damper employed as a part of a car suspension. An accurate model of the hydraulic drive is developed, taking into consideration valve leakage flows. These affect closed-loop gain and hence the overall performance of the system. A robust Variable Structure Control (VSC) algorithm is proposed. The merits of different schemes are compared via numerical simulation. The vehicle ride model employed for the study has seven degrees of freedom.

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