On the relationship between the stability margin and the phase margin for multivariable systems

1994 ◽  
Vol 60 (6) ◽  
pp. 1283-1293 ◽  
Author(s):  
JONATHAN R. BAR-ON ◽  
KEVIN A. GRASSE
2013 ◽  
Vol 572 ◽  
pp. 636-639
Author(s):  
Xi Chen ◽  
Gang Wang

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.


Author(s):  
V Sidorenko ◽  
A Romanenko ◽  
V Panchenko

The purpose of this article is to develop a new methodology for assessing the stability margin of iron ore opencast sides sections. The sequence of work. To achieve this goal, at the first stage, high-resolution photography was carried out for characteristic sections of the pit wall, followed by computer processing of photographs to assess the fracturing of rocks. The next step was the calculation of the fractal dimension of the array section from the obtained images using the ImageJ and FracLac programs, including the MicroMod2015 plug-in package (add-ons). The next step was assess the disturbance of the massif due to fracturing, a study of the relationship between the fractal dimension and the coefficient of structural weakening was carried out (this coefficient is determined by the classical method through the ratio of the strength of rocks in the massif and in the sample). At the last stage of the work, after establishing the specified connection and calculating the coefficient of structural weakening of rocks that based on the results of determining the fractal dimension, an assessment of the stability margin iron ore opencast sides sections that carried out. The known dependence of the stability safety factor on the coefficient of structural weakening of the array was used. As a result of comparing the fractal dimension of the exposed massif areas based on photographs with the calculation by classical methods, the discrepancy in the structural attenuation coefficient was 5-10%. This indicates a satisfactory convergence and allows the use of this express technique for assessing the fracturing of a section of a pit flank on the basis of fractal dimension. The scientific novelty of the results obtained - for the first time, the analytical dependence of the structural weakening coefficient of rocks on the fractal dimension of the massif cracks was established, which made it possible to simplify the procedure for its calculation. The practical significanceof the work lies in the creation of a new methodology for assessing the stability margin of an iron ore opencast side sections that the basis of rock fractures fractal analysis.


2020 ◽  
Vol 17 (3) ◽  
pp. 172988142093050 ◽  
Author(s):  
Binrui Wang ◽  
Ke Zhang ◽  
Xuefeng Yang ◽  
Xiaohong Cui

To realize the omnidirectional motion, the transition motion of hexapod robot from flat to slope is studied, and a new type of stability criterion is proposed. Firstly, the landing point problem of the hexapod robot in the process of transition is studied, the relationship between the introduced angle in ankle of the supporting leg and the body pitch is acquired, and the transition gait based on central pattern generator bottom feedback is planned. Secondly, the slope motion is analyzed, the relationship between the angle variable of the supporting knee joint and the pitch angle of hexapod is obtained, and the slope gait is planned based on central pattern generator middle level feedback. According to vector product, the solution of working out the stability margin of hexapod robot’s motion is designed. Lastly, MATLAB/ADAMAS co-simulation platform and physical hardware are constructed, the simulation and experiment of transition motion of hexapod robot from flat to 12° slope and motion of climbing 16° slope are done. According to the analysis of the results, in the transition motion from flat to 12° slope, based on the transition gait, hexapod robot can keep three foots touch the ground, and the foot force is uniform. According to the means designed to work out a stability margin based on vector product, the stability margin constant is greater than zero. In the motion of climbing 16° slope, based on the slope gait, hexapod robot completes the motion of climbing 16° slope. Based on transition gait, hexapod robot implements the transition movement from flat to slope stably. Based on slope gait, hexapod robot improves the ability of slope motion.


Author(s):  
A.M. Zetty Akhtar ◽  
M.M. Rahman ◽  
K. Kadirgama ◽  
M.A. Maleque

This paper presents the findings of the stability, thermal conductivity and viscosity of CNTs (doped with 10 wt% graphene)- TiO2 hybrid nanofluids under various concentrations. While the usage of cutting fluid in machining operation is necessary for removing the heat generated at the cutting zone, the excessive use of it could lead to environmental and health issue to the operators. Therefore, the minimum quantity lubrication (MQL) to replace the conventional flooding was introduced. The MQL method minimises the usage of cutting fluid as a step to achieve a cleaner environment and sustainable machining. However, the low thermal conductivity of the base fluid in the MQL system caused the insufficient removal of heat generated in the cutting zone. Addition of nanoparticles to the base fluid was then introduced to enhance the performance of cutting fluids. The ethylene glycol used as the base fluid, titanium dioxide (TiO2) and carbon nanotubes (CNTs) nanoparticle mixed to produce nanofluids with concentrations of 0.02 to 0.1 wt.% with an interval of 0.02 wt%. The mixing ratio of TiO2: CNTs was 90:10 and ratio of SDBS (surfactant): CNTs was 10:1. The stability of nanofluid checked using observation method and zeta potential analysis. The thermal conductivity and viscosity of suspension were measured at a temperature range between 30˚C to 70˚C (with increment of 10˚C) to determine the relationship between concentration and temperature on nanofluid’s thermal physical properties. Based on the results obtained, zeta potential value for nanofluid range from -50 to -70 mV indicates a good stability of the suspension. Thermal conductivity of nanofluid increases as an increase of temperature and enhancement ratio is within the range of 1.51 to 4.53 compared to the base fluid. Meanwhile, the viscosity of nanofluid shows decrements with an increase of the temperature remarks significant advantage in pumping power. The developed nanofluid in this study found to be stable with enhanced thermal conductivity and decrease in viscosity, which at once make it possible to be use as nanolubricant in machining operation.


Author(s):  
З.С. САНОВА

В статье представлены материалы о взаимосвязи продолжительности продуктивного использования коров с характеристикой устойчивости к деградации, с возрастом отела и удоем. В исследованной, разнородной по происхождению, группе животных для прогноза продуктивного периода коров, обусловленного устойчивостью к деградации и возрастом первого отела, пригодно уравнение регрессии, аргументами в котором являются индекс устойчивости, возраст первого отела в первой и второй степенях. Коэффициент корреляции межу предсказанными значениями продуктивного периода и его фактическими величинами в I группе составляет 0,502, во II - 0,604. При этом крайние варианты прогнозируются со статистическими ошибками 5 мес при оценке индекса устойчивости по 2 лактациям и 4,1 мес по 3, а средние варианты, соответственно, 1,6 и 1,51 мес. Индекс устойчивости к процессу старения является важной характеристикой биологических особенностей коров, определяющий их продуктивное долголетие. Его оценка по первым 2 и 3 лактациям имеет прямолинейную связь с продуктивным периодом (r=0,4109 и r=0,5270), соответственно. Зависимость продуктивного периода от возраста первого отела криволинейная — с увеличением возраста первого отела сокращается срок продуктивного использования, при возрасте первого отела более 1400 дней срок продуктивного использования колеблется от 1,33 до 1,41 лактации. Коэффициент корреляции между этими характеристиками коров составляет - 0,2164 в I и - 0,2620 во II группах. The article presents materials about the relationship of the duration of productive use of cows with the characteristic of resistance to degradation, with the age of calving and milk yield. In the studied group of animals, which is heterogeneous in origin, the regression equation is suitable for predicting the productive period of cows due to resistance to degradation and the age of the first calving, the arguments of which are the stability index, the age of the first calving in the first and second degrees. The correlation coefficient between the predicted values of the productive period and its actual values in group I is 0.502, in group II - 0.604. At the same time, the extreme variants are predicted with statistical errors of 5 months when evaluating the stability index for 2 lactations and 4.1 months for 3, and the average variants, respectively, are 1.6 and 1.51 months. The index of resistance to the aging process is an important characteristic of the biological characteristics of cows, which determines their productive longevity. Its estimate for the first 2 and 3 lactations has a direct relationship with the productive period (r=0.4109 and r=0.5270), respectively. The dependence of the productive period age at first calving curvilinear with increasing age at first calving reduces the time to productive use, while age at first calving of more than 1400 days, the period of productive use ranges from 1.33 to 1.41 lactation. The correlation coefficient between these characteristics of cows is-0.2164 in I and-0.2620 in II groups.


Author(s):  
Fesenko, H.

Purpose. Increasing the uniformity of distribution of mineral fertilizers and other bulk materials due to the stability of their feed from the body to the spreading working bodies using the top feeder. Methods. The following methods are used to achieve this aim: the method of comparing the differences between individual groups of fertilizers, the method of analyzing the properties of a new technical system, the method of functional inventiveness, and the methods of theoretical and analytical mechanics. Results. The traction body of the conveyor of the upper feed of the body fat body machine for mineral fertilizers and other bulk materials was substantiated and the relationship between the height of its scrapers and the distance between them was established, as well as the nature of the mineral fertilizer pressure on the curvilinear wall of the body. In addition, the design of the advanced body fertilizer spreader is justified, which ensures a stable flow of fertilizers from the body due to the improvement of the top feeder. Conclusions. Because of the conducted researches, the advantages of machines equipped with top feeder are found. They create the conditions for the forced feeding mineral fertilizers and other loose materials from the container to the distribution bodies, which is a prerequisite for their evenness on the surface. With this, the imperfection of known machines with the top feeder constrains their introduction into agricultural production. On this account, a more thoroughly constructed solution of the body feeder of the top feed is substantiated, in which the conveyor provides a stable supply of fertilizers from the body with reduced energy consumption during operation. Keywords: analysis, feed, upper device, conveyor, stability, fertilizers, flow ability, body.


2004 ◽  
Vol 31 (2) ◽  
pp. 1-26 ◽  
Author(s):  
Mercedes Bernal Lloréns

Financial crises have had a decisive influence on banking regulations in Spain. During the mid-19th century the publication of the financial statements of banks was considered key to the stability of the financial system. All new joint stock banking companies were to publish their statements in the Madrid Gazette in return for the privilege of limited liability. Similar obligations were placed on issuing banks. The copious publication of financial statements coincided with a period of financial prosperity. However, the crises that followed from 1864 to 1868 led to a reduction in the official publication of statements. This paper is concerned with an early response to crises in financial reporting. The study focuses on the relationship between the publication of accounting statements by banks and the GDP in Spain during the mid-19th century. The results suggest that the frequency of publication of financial statements may be an indicator of economic performance.


Sensors ◽  
2020 ◽  
Vol 20 (17) ◽  
pp. 4911
Author(s):  
Qian Hao ◽  
Zhaoba Wang ◽  
Junzheng Wang ◽  
Guangrong Chen

Stability is a prerequisite for legged robots to execute tasks and traverse rough terrains. To guarantee the stability of quadruped locomotion and improve the terrain adaptability of quadruped robots, a stability-guaranteed and high terrain adaptability static gait for quadruped robots is addressed. Firstly, three chosen stability-guaranteed static gaits: intermittent gait 1&2 and coordinated gait are investigated. In addition, then the static gait: intermittent gait 1, which is with the biggest stability margin, is chosen to do a further research about quadruped robots walking on rough terrains. Secondly, a position/force based impedance control is employed to achieve a compliant behavior of quadruped robots on rough terrains. Thirdly, an exploratory gait planning method on uneven terrains with touch sensing and an attitude-position adjustment strategy with terrain estimation are proposed to improve the terrain adaptability of quadruped robots. Finally, the proposed methods are validated by simulations.


Author(s):  
Baina He ◽  
Yadi Xie ◽  
Jingru Zhang ◽  
Nirmal-Kumar C. Nair ◽  
Xingmin He ◽  
...  

Abstract In the transmission line, the series compensation device is often used to improve the transmission capacity. However, when the fixed series capacitor (FSC) is used in high compensation series compensation device, the stability margin cannot meet the requirements. Therefore, thyristor controlled series compensator (TCSC) is often installed in transmission lines to improve the transmission capacity of the line and the stability of the system. For cost considerations, the hybrid compensation mode of FSC and TCSC is often adopted. However, when a single-phase grounding fault occurs in a transmission line with increased series compensation degree, the unreasonable distribution of FSC and TCSC will lead to the excessive amplitude of secondary arc current, which is not conducive to rapid arc extinguishing. To solve this problem, this paper is based on 1000 kV Changzhi-Nanyang-Jingmen UHV series compensation transmission system, using PSCAD simulation program to established UHV series compensation simulation model, The variation law of secondary arc current and recovery voltage during operation in fine tuning mode after adding TCSC to UHV transmission line is analyzed, and the effect of increasing series compensation degree on secondary arc current and recovery voltage characteristics is studied. And analyze the secondary arc current and recovery voltage when using different FSC and TCSC series compensation degree schemes, and get the most reasonable series compensation configuration scheme. The results show that TCSC compensation is more beneficial to arc extinguishing under the same series compensation. Compared with several series compensation schemes, it is found that with the increase of the proportion of TCSC, the amplitude of secondary arc current and recovery voltage vary greatly. Considering various factors, the scheme that is more conducive to accelerating arc extinguishing is chosen.


Paleobiology ◽  
10.1666/12001 ◽  
2013 ◽  
Vol 39 (3) ◽  
pp. 323-344 ◽  
Author(s):  
Carlo Meloro ◽  
Sarah Elton ◽  
Julien Louys ◽  
Laura C. Bishop ◽  
Peter Ditchfield

Mammalian carnivores are rarely incorporated in paleoenvironmental reconstructions, largely because of their rarity within the fossil record. However, multivariate statistical modeling can be successfully used to quantify specific anatomical features as environmental predictors. Here we explore morphological variability of the humerus in a closely related group of predators (Felidae) to investigate the relationship between morphometric descriptors and habitat categories. We analyze linear measurements of the humerus in three different morphometric combinations (log-transformed, size-free, and ratio), and explore four distinct ways of categorizing habitat adaptations. Open, Mixed, and Closed categories are defined according to criteria based on traditional descriptions of species, distributions, and biome occupancy. Extensive exploratory work is presented using linear discriminant analyses and several fossils are included to provide paleoecological reconstructions.We found no significant differences in the predictive power of distinct morphometric descriptors or habitat criteria, although sample splitting into small and large cat guilds greatly improves the stability of the models. Significant insights emerge for three long-canine cats:Smilodon populator,Paramachairodus orientalis, andDinofelissp. from Olduvai Gorge (East Africa).S. populatorandP. orientalisare both predicted to have been closed-habitat adapted taxa. The false “sabertooth”Dinofelissp. from Olduvai Gorge is predicted to be adapted to mixed habitat. The application of felid humerus ecomorphology to the carnivoran record of Olduvai Gorge shows that the older stratigraphic levels (Bed I, 1.99–1.79 Ma) included a broader range of environments than Beds II or V, where there is an abundance of cats adapted to open environments.


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