Wind-driven land-yacht robot mathematical modeling and verification

2016 ◽  
Vol 43 (1) ◽  
pp. 77-90 ◽  
Author(s):  
Jiqing Chen ◽  
Shaorong Xie ◽  
Jun Luo ◽  
Hengyu Li
Keyword(s):  
Mathematical Model ◽  
Experimental Tests ◽  
Outer Planet ◽  
Mechanism Analysis ◽  
Content Type ◽  
The Antarctic ◽  
The Mathematical Model ◽  
The Given ◽  
Practical Implications ◽  
Wind Resources

Purpose – The purpose of this paper was to solve the shortage of carrying energy in probing robot and make full use of wind resources in the Antarctic expedition by designing a four-wheel land-yacht. Land-yacht is a new kind of mobile robot powered by the wind using a sail. The mathematical model and trajectory of the land-yacht are presented in this paper. Design/methodology/approach – The mechanism analysis method and experimental modeling method are used to establish a dual-input and dual-output mathematical model for the motion of land-yacht. First, the land-yacht’s model structure is obtained by using mechanism analysis. Then, the models of steering gear, servomotors and force of wing sail are analyzed and validated. Finally, the motion of land-yacht is simulated according to the mathematical model. Findings – The mathematical model is used to analyze linear motion and steering motion. Compared with the simulation results and the actual experimental tests, the feasibility and reliability of the proposed land-yacht modeling are verified. It can travel according to the given signal. Practical implications – This land-yacht can be used in the Antarctic, outer planet or for harsh environment exploration. Originality/value – A land-yacht is designed, and the contribution of this research is the development of a mathematical model for land-yacht robot. It provides a theoretical basis for analysis of the land-yacht’s motion.

Novel symmetrical step-down topologies of zigzag autotransformer

Circuit World ◽  
2019 ◽  
Vol 45 (4) ◽  
pp. 231-256
Author(s):  
JiaRong Wang ◽  
XiaoQiang Chen
Keyword(s):  
Mathematical Model ◽  
Main Parameter ◽  
Design Methodology ◽  
Content Type ◽  
Modeling Analysis ◽  
Step Down ◽  
The Mathematical Model ◽  
Practical Implications ◽  
Theoretical Results ◽  
Equivalent Capacity

Purpose This paper aims to obtain a symmetrical step-down topology with lower equivalent capacity and wider step-down range under the condition of the same output. Three new symmetrical step-down topologies of zigzag autotransformer are proposed in this paper. Taking the equivalent capacity as the main parameter, the obtained topologies are modeled and analyzed in detail. Design/methodology/approach This paper adopts the research methods of design, modeling, analysis and simulation verification. First, the zigzag autotransformer is redesigned according to the design objective of symmetrical step-down topology. Second, the mathematical model of the designed topology is established, and the detailed theoretical analysis is carried out. Finally, the theoretical results are verified by simulation. Findings Three symmetrical zigzag autotransformer step-down topologies are designed, the winding configurations of the corresponding topology are presented, the step-down ranges of these three topologies are calculated and the influence of step-down ratio on equivalent capacity of autotransformer is analyzed. Through analysis, the target step-down topologies are obtained when the step-down ratio is [0.969, 1.414] and [1.414, 8]. Research limitations/implications Because the selected research object is only zigzag autotransformer, the research results may lack generality. Therefore, researchers are encouraged to further study topologies of other autotransformers. Practical implications This paper includes the implications of step-down ratio on the equivalent capacity of autotransformer and the configuration of transformer windings. Originality/value The topologies designed in this paper enable zigzag autotransformer to be applied in step-down circumstances.

Analyses of peg‐hole jamming in automatic assembly machines

2011 ◽  
Vol 31 (4) ◽  
pp. 358-362 ◽  
Author(s):  
Ryspek Usubamatov ◽  
K.W. Leong
Keyword(s):  
Mathematical Model ◽  
Boundary Condition ◽  
Design Methodology ◽  
Manufacturing Industry ◽  
Critical Depth ◽  
Assembly Process ◽  
Automatic Assembly ◽  
Content Type ◽  
The Mathematical Model ◽  
Practical Implications

PurposeThe purpose of this paper is to investigate theoretically the process of jamming in the peg‐hole type parts and to derive a mathematical model of jamming.Design/methodology/approachThe mathematical model of the jamming of the peg‐hole type parts in assembly process was performed and its boundary conditions, which lead to jamming, defined.FindingsThe equation of the critical angles of declination for the peg, which leads to the peg‐hole jam, was derived. The boundary condition of the angles of declination and the depth of the peg insertion into the hole were defined.Research limitations/implicationsA mathematical model is developed for rigid parts with a hole and for the peg clamped in the rigid assembly mechanisms. The research has not considered flexible deformations and stiffness of the assembly mechanisms, which result in the peg's declination in the assembly process.Practical implicationsThe results are represented in the form of the peg's critical angles of declination and critical depth of insertion into the hole, which leads to jamming of the peg‐hole type parts to be assembled. On the basis of the obtained results, it is possible to formulate the tolerances of the declination angles for the assembly mechanisms, which clamp the peg‐type parts.Originality/valueThe proposed method calculating the critical angles of the peg's declination and critical depth of the peg's insertion into the hole for assembly of the peg‐hole type parts, enables one to increase the reliability of the assembly process in the manufacturing industry.

scholarly journals Passive Measurement of Three Optical Beacon Coordinates Using a Simultaneous Method

Sensors ◽  
2021 ◽  
Vol 21 (15) ◽  
pp. 5235
Author(s):  
Jiri Nemecek ◽  
Martin Polasek
Keyword(s):  
Mathematical Model ◽  
Relative Position ◽  
Experimental Tests ◽  
Image Sensor ◽  
Geometric Parameters ◽  
Light Sources ◽  
Feature Points ◽  
Passive Measurement ◽  
The Mathematical Model ◽  
Physical Principles

Among other things, passive methods based on the processing of images of feature points or beacons captured by an image sensor are used to measure the relative position of objects. At least two cameras usually have to be used to obtain the required information, or the cameras are combined with other sensors working on different physical principles. This paper describes the principle of passively measuring three position coordinates of an optical beacon using a simultaneous method and presents the results of corresponding experimental tests. The beacon is represented by an artificial geometric structure, consisting of several semiconductor light sources. The sources are suitably arranged to allow, all from one camera, passive measurement of the distance, two position angles, the azimuth, and the beacon elevation. The mathematical model of this method consists of working equations containing measured coordinates, geometric parameters of the beacon, and geometric parameters of the beacon image captured by the camera. All the results of these experimental tests are presented.

Force tracking control of grinding end effector based on backstepping + PID

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Shijie Dai ◽  
Shining Li ◽  
Wenbin Ji ◽  
Zhenlin Sun ◽  
Yufeng Zhao
Keyword(s):  
Mathematical Model ◽  
Linear System ◽  
Control Strategy ◽  
Grinding Force ◽  
Constant Force ◽  
End Effector ◽  
Content Type ◽  
Modeling And Analysis ◽  
The Mathematical Model ◽  
Automobile Wheel

Purpose This study aims to realize the constant force grinding of automobile wheel hub. Design/methodology/approach A force control strategy of backstepping + proportion integration differentiation (PID) is proposed. The grinding end effector is installed on the flange of the robot. The robot controls the position and posture of the grinding end actuator and the grinding end actuator controls the grinding force output. First, the modeling and analysis of the grinding end effector are carried out, and then the backstepping + PID method is adopted to control the grinding end effector to track the expected grinding force. Finally, the feasibility of the proposed method is verified by simulation and experiment. Findings The simulation and experimental results show that the backstepping + PID strategy can track the expected force quickly, and improve the dynamic response performance of the system and the quality of grinding and polishing of automobile wheel hub. Research limitations/implications The mathematical model is based on the pneumatic system and ideal gas, and ignores the influence of friction in the working process of the cylinder, so the mathematical model proposed in this study has certain limitations. A new control strategy is proposed, which is not only used to control the grinding force of automobile wheels, but also promotes the development of industrial control. Social implications The automatic constant force grinding of automobile wheel hub is realized, and the manpower is liberated. Originality/value First, the modeling and analysis of the grinding end effector are carried out, and then the backstepping + PID method is adopted to control the grinding end effector to track the expected grinding force. The nonlinear model of the system is controlled by backstepping method, and in the process, the linear system composed of errors is obtained, and then the linear system is controlled by PID to realize the combination of backstepping and PID control.

scholarly journals Mathematical modeling and harmonic analysis of SISFCL

2017 ◽  
Vol 36 (1) ◽  
pp. 258-270
Author(s):  
Debraj Sarkar ◽  
Debabrata Roy ◽  
Amalendu Bikash Choudhury ◽  
Sotoshi Yamada
Keyword(s):  
Mathematical Modeling ◽  
Mathematical Model ◽  
Harmonic Analysis ◽  
Voltage Drop ◽  
Element Model ◽  
Iron Core ◽  
Content Type ◽  
Hysteresis Characteristic ◽  
The Core ◽  
The Mathematical Model

Purpose A saturated iron core superconducting fault current limiter (SISFCL) has an important role to play in the present-day power system, providing effective protection against electrical faults and thus ensuring an uninterrupted supply of electricity to the consumers. Previous mathematical models developed to describe the SISFCL use a simple flux density-magnetic field intensity curve representing the ferromagnetic core. As the magnetic state of the core affects the efficient working of the device, this paper aims to present a novel approach in the mathematical modeling of the device with the inclusion of hysteresis. Design/methodology/approach The Jiles–Atherton’s hysteresis model is utilized to develop the mathematical model of the limiter. The model is numerically solved using MATLAB. To support the validity of model, finite element model (FEM) with similar specifications was simulated. Findings Response of the limiter based on the developed mathematical model is in close agreement with the FEM simulations. To illustrate the effect of the hysteresis, the responses are compared by using three different hysteresis characteristics. Harmonic analysis is performed and comparison is carried out utilizing fast Fourier transform and continuous wavelet transform. It is observed that the core with narrower hysteresis characteristic not only produces a better current suppression but also creates a higher voltage drop across the DC source. It also injects more harmonics in the system under fault condition. Originality/value Inclusion of hysteresis in the mathematical model presents a more realistic approach in the transient analysis of the device. The paper provides an essential insight into the effect of the core hysteresis characteristic on the device performance.

scholarly journals Mathematical modeling of physical processes in the complex for testing of induction machines

2018 ◽  
Vol 239 ◽  
pp. 01055 ◽  
Author(s):  
Viktor Kharlamov ◽  
Denis Popov
Keyword(s):  
Mathematical Model ◽  
Frequency Converter ◽  
Electrical Energy ◽  
Induction Machines ◽  
Test Scheme ◽  
Load Testing ◽  
Variable Parameters ◽  
Asynchronous Machines ◽  
The Mathematical Model ◽  
The Given

The paper is devoted to the simulation of the test complex designed for energy-efficient load testing of induction machines by the method of mutual load with the exchange of electrical energy through the network. It is noted that for other similar test schemes, the mathematical model will have a slightly different form, but it will be identical in terms of asynchronous machines, network and frequency converter. The compiled mathematical model of the test complex allows studying the variable parameters of the system in all elements of the test scheme in static and dynamic modes of operation as well. The synthesized mathematical model can be used to determine the parameters of the equipment in the designed test complexes if the parameters of the test and load machines are known. The results of simulation of the test complex for the given parameters of the test and load induction machines are obtained.

An economic production model with imperfect quality components and probabilistic lead times

2020 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Abdul-Nasser El-Kassar ◽  
Alessio Ishizaka ◽  
Yama Temouri ◽  
Abdullah Al Sagheer ◽  
Daicy Vaz
Keyword(s):  
Mathematical Model ◽  
Production Process ◽  
Production Cycle ◽  
Lead Times ◽  
Screening Process ◽  
Content Type ◽  
Imperfect Quality ◽  
Reorder Point ◽  
Production Run ◽  
Practical Implications

PurposeThis study investigates a production process that requires N kinds of components for the production of a finished product. The producer orders the various kinds of components from different suppliers and receives the orders in lots at the beginning of each production cycle. Similar to situations often encountered in real life, the lead times are random variables with known probability distributions so that a production cycle starts whenever all N kinds of components become available. Each of the lots received at the start of a production run contains both perfect and imperfect quality components. Once all N kinds of components become available, the producer initiates a screening process to detect the imperfect components. The production of the finished product uses only perfect quality components. The imperfect components are removed from inventory whenever the screening process is completed. The percentage of components of perfect quality present in each lot is a random variable with a known probability distribution.Design/methodology/approachThis production process is described and modeled mathematically and the optimal production/ordering policy is derived based on the mathematical model.FindingsThe formulated mathematical model resulted in the determination of the optimal policy consisting of the optimal number of finished items ordered to be produce during each production run, the number of components ordered from each supplier, and the reorder point. The derived closed form expression for the optimal lot size depends on the minimum of the number of perfect quality components in a lot, whereas the reorder point is determined based on the maximum lead time.Practical implicationsThe modeling approach and results of this study provide practical implications that may be beneficial to both production and supply chain managers as well as researchers.Originality/valueThis modeling approach that incorporates decision-making related to the logistics of acquiring the components and accounts for the probabilistic nature of the lead times and quality of components addresses a gap in the logistics/production literature.

Theoretical and trustees’ perspectives on the establishment of an Islamic social (Waqf) bank

Humanomics ◽  
2015 ◽  
Vol 31 (1) ◽  
pp. 37-73 ◽  
Author(s):  
Mohammad Tahir Sabit Haji Mohammad
Keyword(s):  
Public Good ◽  
Design Methodology ◽  
Public And Private ◽  
Content Type ◽  
The Public ◽  
The Poor ◽  
The Given ◽  
Practical Implications ◽  
International Social ◽  
Specific Country

Purpose – This paper aims to present an alternative to current banking systems. The purpose of the paper is the optimisation of the concept of cash waqf and its management in the framework of a waqf bank and its viability. Design/methodology/approach – The study is doctrinal and empirical. Several assumptions concerning the structure and operation of the bank are made, surveyed and descriptively analysed. Findings – The concept of cash waqf could be used for the operation of a waqf bank. There was a tendency among the given group of practitioners towards a corporate international social bank, capitalised by the waqf and non-waqf assets, sought after from the public and private sectors, as well as the Muslims and non-Muslims. Research limitations/implications – Assumptions are basic. Empirical findings are based on the perspective of waqf trustees. Other stakeholders’ perspectives need further research. Practical implications – The study is expected to persuade for, and assist in the establishment of a waqf bank. Social implications – This paper could contribute to the effectiveness of waqf institutions in their delivery of public good to the poor and society. These implications are not restricted to a specific country. Charities and the poor of any society may benefit from this study if the idea of total social banking is upheld. Originality/value – This study is the first to address the structure and operation of a waqf bank empirically.

Wind Energy Conversion: The Potential of a Novel Ducted Turbine for Residential and Commercial Applications

2013 ◽  
Author(s):  
N. Goudarzi ◽  
W. D. Zhu ◽  
H. Bahari
Keyword(s):  
Mathematical Model ◽  
Wind Power ◽  
Flow Behavior ◽  
Experimental Tests ◽  
Simulation Techniques ◽  
Ducted Turbine ◽  
Grid Applications ◽  
Commercial Applications ◽  
Four Quadrant ◽  
The Mathematical Model

A novel ducted turbine, referred to as a Wind Tower, for capturing wind power in either residential or commercial scale applications is studied theoretically and experimentally. A mathematical model is developed to predict the flow behavior inside the tower and a velocity coefficient is defined to correct the results at different test conditions. A wind tower prototype, including a four-quadrant-peak wind-catcher rooftop, a tower, a nozzle, and a turbine, is designed and fabricated. The captured wind power values from the mathematical model and the preliminary experimental tests are compared. While the mathematical model provides a good estimation of the output power in some cases, more precise experimental tests and simulation techniques are required to improve the mathematical model in some other cases. Significant changes in the output wind speed due to pressure differences created by the surrounding environment, the tower height, and the number of nozzles are observed. The advantages of being maintenance free, reliable, and sustainable, together with its special design that eliminates bird/bat mortality make the Wind Tower a promising solution for residential, commercial, and even off-grid applications.

Mathematical model of the artificial muscle with two actuators

2020 ◽  
pp. 095440622094156
Author(s):  
Ljubinko B Kevac ◽  
Mirjana M Filipovic ◽  
Ana M Djuric
Keyword(s):  
Mathematical Model ◽  
Control Structure ◽  
Artificial Muscle ◽  
Parallel Robot ◽  
Simulation Results ◽  
Proportional Derivative Controller ◽  
Definition Of ◽  
The Mathematical Model ◽  
The Given ◽  
Very High

Characteristic construction of cable-suspended parallel robot of artificial muscle, which presents an artificial forearm, is analyzed and synthesized. Novel results were achieved and presented. Results presented in this paper were initially driven to recognize and mathematically define undefined geometric relations of the artificial forearm since it was found that they strongly affect the dynamic response of this system. It gets more complicated when one has more complex system, which uses more artificial muscle subsystems, since these subsystems couple and system becomes more unstable. Unmodeled or insufficiently modeled dynamics can strongly affect the system’s instability. Because of that, the construction of this system and its new mathematical model are defined and presented in this paper. Generally, it can be said that the analysis of geometry of selected mechanism is the first step and very important step to establish the structural stability of these systems. This system is driven with two actuators, which need to work in a coordinated fashion. The aim of this paper is to show the importance of the geometry of this solution, which then strongly affects the system’s kinematics and dynamics. To determine the complexity of this system, it was presumed that system has rigid cables. Idea is to show the importance of good defined geometry of the system, which gives good basis for the definition of mathematical model of the system. Novel program package AMCO, artificial muscle contribution, was defined for the validation of the mathematical model of the system and for choice of its parameters. Sensitivity of the system to certain parameters is very high and hence analysis of this system needs to be done with a lot of caution. Some parameters are very influential on the possible implementation of the given task of the system. Only after choosing the parameters and checking the system through certain simulation results, control structure can be defined. In this paper, proportional–derivative controller was chosen.

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