scholarly journals Modelling and static stability analyses of the hexa-quad bimorph walking robot

2019 ◽  
Vol 254 ◽  
pp. 02029 ◽  
Author(s):  
Dominik Wojtkowiak ◽  
Krzysztof Talaśka ◽  
Ireneusz Malujda ◽  
Jan Górecki ◽  
Dominik Wilczyński
Keyword(s):  
Mathematical Model ◽  
Great Influence ◽  
Static Stability ◽  
Walking Robots ◽  
Walking Robot ◽  
Centre Of Gravity ◽  
Functional Features ◽  
Robot Configuration ◽  
The Many ◽  
The Mathematical Model

Gait stability of the walking robot has great influence on the many functional features related to walking robots, from mechanical construction to control algorithms and generating steps. The goal of the presented research was a development of the concept of hexa-quad bimorph walking robot. Results of the performed static stability analysis allowed the initial verification of the mathematical model and provided information about the design adequacy and the possibilities of controlling the machine. The research involved analysing the characteristic postures of the robot focused on retaining static stability. To achieve this objective the mathematical model was made to determine the centre of gravity for the robot by using Denavit-Hartenberg notation. On this basis the simulation model was created in Matlab Simulink environment, where the described analyses were conducted. Based on the obtained results, the initial model error was determined at approximately 3%. It was also established that the centre of gravity for the design was not significantly different from the effective centre of gravity for the robot. This made it possible to achieve static stability through adequate alignment of the legs in nearly every robot configuration.

scholarly journals NECESSITY TO IMPROVE THE MATHEMATICAL MODEL OF FREIGHT CARS TO STUDY CASES OF ITS DERAILMENTS

2020 ◽  
pp. 442-451
Author(s):  
А.V. Batig ◽  
A. Ya. Kuzyshyn
Keyword(s):  
Mathematical Model ◽  
Mathematical Models ◽  
Computer Experiment ◽  
Rolling Stock ◽  
Software Systems ◽  
Freight Car ◽  
The Stability ◽  
The Many ◽  
The Impact ◽  
The Mathematical Model

One of the most important problems that pose a serious threat to the functioning of railways is the problem of freight cars derailment. However, according to statistics, the number of cases of the derailments of freight cars in trains annually grows. Тo prevent such cases, the necessary preventive measures are developed, and to study the causes of their occurrence, a significant number of mathematical models, programs and software systems created by leading domestic and foreign scientists. Studies of such mathematical models by the authors of this work have led to the conclusion that they are not sufficiently detailed to the extent that it is necessary for analyze the reasons of its derailment. At the same time, an analysis of the causes of the rolling stock derailments on the railways of Ukraine over the past five years showed that in about 20 % of cases they are obvious, and in 7 % of cases they are not obvious and implicitly expressed. The study of such cases of rolling stock derailment during an official investigation by the railway and during forensic railway transport expertises requires the use of an improved mathematical model of a freight car, which would allow a quantitative assessment of the impact of its parameters and rail track on the conditions of railway accidents. Therefore, taking into account the main reasons that caused the occurrence of such railroad accidents over the last five years on the railways of Ukraine, the article selected the main directions for improving the mathematical model of a freight car, allowing to cover all the many factors (explicit and hidden) and identify the most significant ones regarding the circumstances of the derailment rolling stock off the track, established on the basis of a computer experiment. It is proposed in the mathematical model of a freight car to take into account the guiding force, the value of which is one of the main indicators of the stability of the rolling stock. The authors of the article noted that not taking into account the influence of the guiding forces on the dynamics of the freight car can lead to an erroneous determination of the reasons for the rolling stock derailment or even to the impossibility of establishing them.

Walking Stability Analysis of Multi-Legged Crablike Robot over Slope

2013 ◽  
Vol 572 ◽  
pp. 636-639
Author(s):  
Xi Chen ◽  
Gang Wang
Keyword(s):  
Mathematical Model ◽  
Stability Analysis ◽  
Stability Criterion ◽  
Stability Margin ◽  
Static Stability ◽  
Matlab Simulation ◽  
And Performance ◽  
The Stability ◽  
The Mathematical Model ◽  
The Relationship

This paper deals with the walking stability analysis of a multi-legged crablike robot over slope using normalized energy stability margin (NESM) method in order to develop a common stabilization description method and achieve robust locomotion for the robot over rough terrains. The robot is simplified with its static stability being described by NESM. The mathematical model of static stability margin is built so as to carry out the simulation of walking stability over slope for the crablike robot that walks in double tetrapod gait. As a consequence, the relationship between stability margin and the height of the robots centroid, as well as its inclination relative to the ground is calculated by the stability criterion. The success and performance of the stability criterion proposed is verified through MATLAB simulation and real-world experiments using multi-legged crablike robot.

The Measurements of Ultrasonic Cavitation Based on the Image Processing

2012 ◽  
Vol 518-523 ◽  
pp. 132-135
Author(s):  
Chang Ping Zhu ◽  
Jing Liu ◽  
Chang Wei Liu ◽  
Qing Bang Han ◽  
Bo Huang ◽  
...  
Keyword(s):  
Mathematical Model ◽  
Image Processing ◽  
Machine Vision ◽  
Great Influence ◽  
Ultrasonic Cavitation ◽  
Cavitation Bubbles ◽  
Power Ultrasonic ◽  
Cavitation Intensity ◽  
Ultrasonic Intensity ◽  
The Mathematical Model

Ultrasonic intensity has a great influence on the concentration of cavitation bubbles. Considering the characteristic of cavitation, in this paper, we propose a method of measuring the amount of cavitation bubbles to identify the change of cavitation intensity indirectly. First, acquires images of reaction liquid under the action of the certain power ultrasonic through machine vision technology; then, obtains micro bubbles quantity generated by ultrasonic cavitation; finally, establish the mathematical model between cavitation intensity and amount of cavitation bubbles to indirectly detect the change of ultrasonic cavitation intensity.

Influence of Tailrace Surge Chamber with Standpipe on Draft Tube Pressure

2014 ◽  
Vol 607 ◽  
pp. 472-476
Author(s):  
Sheng Chen ◽  
Jian Zhang ◽  
Jian Feng An
Keyword(s):  
Mathematical Model ◽  
Draft Tube ◽  
Great Influence ◽  
Design Phase ◽  
Power Station ◽  
Pumped Storage ◽  
The Mathematical Model

Standpipe is a connection between surge chamber and tunnel, which can greatly reduce the quantities. This present study deals with how to take the influence of standpipe into consideration and what extent is the influence. The mathematical model of standpipe is established by introducing the method of characteristic. Then the model is applied in one pumped storage power station with long standpipe of 67m. Results show that the standpipe has great influence on whatever tank surge or pressure. And with the increasing standpipe length, the upsurge and minimum draft tube pressure present downtrend. The influence of standpipe in tailrace surge chamber should be considered in design phase. The achievements of the study can serve as a reference for similar projects.

scholarly journals THE STUDY OF THE AUTONOMOUS SYNCHRONOUS GENERATOR MODES

2017 ◽  
Vol 60 (5) ◽  
pp. 433-445
Author(s):  
V. S. Safaryan
Keyword(s):  
Mathematical Model ◽  
Angular Velocity ◽  
Power System ◽  
Synchronous Generator ◽  
Transition Process ◽  
Static Stability ◽  
Stationary Points ◽  
Natural Form ◽  
Fourth Degree ◽  
The Mathematical Model

The importance of the problem of the static stability of the stationary mode of the power system for its operation is extremely high. The investigation of the static stability of the power system is a subject of a number of works, but the problems of static stability of the stationary points of an autonomous synchronous generator are given little attention. The article considers transient and resonant (stationary) modes of the generator under active-inductive and active-capacitive loads. Mathematical model of transients in a natural form and in the coordinate system d, q are plotted. It is discovered that the mathematical model of the transition process of an autonomous synchronous generator is identical to the mathematical model of the transition process of the synchronous machine under three-phase short circuit. Electromagnetic transients of an autonomous synchronous generator are described by a system of linear autonomous differential equations with constant coefficients. However, the equivalent circuit of a generator contains dependent sources. We investigated the stability of stationary motion of an autonomous synchronous generator at a given angular velocity of rotation of the rotor. The condition for the existence and stability of stationary points of an autonomous synchronous generator is derived. The condition for the existence of stationary points of such a generator does not depend on the active load resistance and stator windings, and inductance of the rotor. The determining of stationary points of the generator is reduced to finding roots of a polynomial of the fourth degree. The graphs of electromagnetic torque dependencies on the angular velocity of rotation of the rotor (mechanical characteristics) are plotted. The equivalent circuits, corresponding to the equations of the transition process of an autonomous synchronous generator, are featured as well.

scholarly journals Mathematical Modelling and Simulation of Six Axis Robot for Industrial Application

2020 ◽  
Vol 9 (4) ◽  
pp. 955-959
Keyword(s):  
Mathematical Model ◽  
Real Time ◽  
Low Cost ◽  
Sine Wave ◽  
Modeling Software ◽  
Paper Work ◽  
The Many ◽  
Mathematical Modelling And Simulation ◽  
The Mathematical Model ◽  
Environment Condition

The proposed paper work is focused on the development of low cost six axis robot. The robot is modelled using mathematical model and it’s compared with the simulation model in the real time environment condition. The modeling of the robot is designed in the modeling software and it is simulated in the Matlab software. This type of solving system is used to solve the many type of real time problems. The simulated result is compared with the mathematical model of the robot. Based on the testing the robot is redesigned in the modeling software. In this work sin wave is given has input and the robot is followed the sine wave.

Simulation Study on Influencing Factors of Rapid Steam-Charging Process in Steam Accumulator

2013 ◽  
Vol 281 ◽  
pp. 563-567 ◽  
Author(s):  
Guo Lei Zhang ◽  
Bao Zhi Sun ◽  
Yan Jun Li ◽  
Hong Bo Ma ◽  
Cong Liu ◽  
...  
Keyword(s):  
Mathematical Model ◽  
Influencing Factors ◽  
Simulation Study ◽  
Dynamic Process ◽  
Great Influence ◽  
Equilibrium Thermodynamics ◽  
Filling Water ◽  
Steam Accumulator ◽  
The Mathematical Model

In this paper, the mathematical model for the rapid steam-charging process of the steam accumulator was given based on the theory of equilibrium thermodynamics. The dynamic process has been simulated according to the model, and the effects of different factors on the steam-charging process were analyzed. The results showed that the initial coefficients of filling water had great influence on the time of steam-charging, and the influence of the considered metal’s mass was limited for the steam-charging process.

LOW-FREQUENCY IMPEDANCE OF ANISOTROPIC ENGINEERING DESIGN

Akustika ◽  
2021 ◽  
pp. 262
Author(s):  
Sergey A. Rykov ◽  
Irina Kudryavtseva ◽  
Sergey V. Rykov
Keyword(s):  
Mathematical Model ◽  
Engineering Design ◽  
Experimental Research ◽  
Great Influence ◽  
Low Frequency ◽  
Inhomogeneous Distribution ◽  
Anisotropic Structure ◽  
Frequency Range ◽  
Anisotropic Structures ◽  
The Mathematical Model

The results of theoretical and experimental research of the impedance of an anisotropic structure in the low frequency range are presented. It is shown that taking into account the inhomogeneous distribution of mass along the length of the structure has a great influence on the value of the impedance of an anisotropic structure. Based on the results obtained in the mathematical model, expressions are proposed for calculating the impedances of anisotropic structures in the low frequency range.

scholarly journals Complexity of the characteristic semi-groups the direct products of „AG“ asynchronous automata of the strongly connected determined analogs the extensions associated with DFASC2 isomorfisms

2018 ◽  
Vol 19 (6) ◽  
pp. 1007-1011
Author(s):  
Stanisław Bocian
Keyword(s):  
Mathematical Model ◽  
Direct Product ◽  
Direct Products ◽  
Semi Group ◽  
Product Complexity ◽  
Asynchronous Automata ◽  
Strongly Connected ◽  
The Many ◽  
The Mathematical Model ◽  
Computational Processes

The paper presents the assumption and the evidence is carried out of the direct product complexity of character-istic semi-groups of any number (“ ”) of deterministic, finite, asynchronous, highly consistent DFASC2. automata. The characteristic semi-group of the automaton interferes in the computational algorithm of the generalized homoeo-morphism of the automatons. Then determination the com-plexity of the characteristic semi-group enables to estimate the complexity of the computational generalized homoeo-morphism for the other classes of automatons. In the range of the mathematical model the conception of the determined analog of the extension of the automaton associated with the isomorphism g0, g1 ,…, gq-1 where q is the grade of the extensions, with the suitable assumptions it simulates the automaton variable in time. The variable automaton in time is the adequate mathematical model for the many technical and computational processes of the real time. The direct product of automatons can be considered as the realization- parallel calculations accordingly

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