A Sparse Optimization based Control Method for Manipulator with Simultaneous Potential Energy Minimization

2020 ◽  
pp. 1-1
Author(s):  
Zhan Li ◽  
Shuai Li
Keyword(s):  
Potential Energy ◽  
Energy Minimization ◽  
Control Method ◽  
Sparse Optimization

WHY ARE SOME NUCLEI SPHERICAL?

1993 ◽  
Vol 02 (supp01) ◽  
pp. 71-79 ◽  
Author(s):  
KRISHNA KUMAR
Keyword(s):  
Potential Energy ◽  
Spherical Shell ◽  
Shell Model ◽  
Energy Minimization ◽  
Zero Point ◽  
Natural State ◽  
Atomic Nuclei ◽  
Point Motion ◽  
Spherical Nuclei ◽  
General Conditions

Energy minimization is not sufficient to determine whether a nucleus is spherical or deformed. The quantal zero-point motion can make a nucleus spherical even if the potential energy has a deformed minimum. However, some general conditions give deformed shape as the natural state of atomic nuclei. They are spherical only under some special conditions. Some general criteria for distinguishing spherical nuclei from deformed, as well as some advantages of using a deformed-shell model rather than a spherical-shell model, are presented.

Floating Body Equilibrium by Potential-Energy Minimization

1991 ◽  
Vol 28 (03) ◽  
pp. 153-162
Author(s):  
Antonio Campanile
Keyword(s):  
Potential Energy ◽  
Energy Minimization ◽  
Stable Equilibrium ◽  
Mathematical Formulation ◽  
Floating Body ◽  
Offshore Platforms ◽  
Equilibrium Equations ◽  
Hull Form ◽  
Computer Based ◽  
Marine Vehicle

The paper presents a computer-based approach aiming to solve the equilibrium equations of a floating body by means of potential-energy minimization. After a brief and general discussion, the principle that the potential energy of the system must be at a minimum is adopted as the condition for identifying the stable equilibrium positions of a marine vehicle. A consistent mathematical formulation is then developed. The problem is solved, therefore, by searching for the minimum of a function of three variables using a simple and efficient iterative method. This makes it possible for the equilibrium positions to be determined directly, unlike the classic methods-that is, without any previously constructed table of hydrostatic data and regardless of the magnitude of waterplane rotation compared with the initial orientation. No restriction is stipulated on hull form. Some study cases relating to a prismatic barge and a jacket-type platform are presented and analyzed. Relevant numerical results allow the procedure to be optimized so as to improve convergence. Finally, peculiar features of the proposed method are discussed, with particular reference to jacket-type offshore platforms, and further valuable applications are indicated.

scholarly journals A Mechanics Study on the Self-Righting of Abalone from the Substrate

2020 ◽  
Vol 2020 ◽  
pp. 1-9
Author(s):  
Yun Zhang ◽  
Shanpeng Li ◽  
Pingcheng Zuo ◽  
Jing Li ◽  
Jianlin Liu
Keyword(s):  
Potential Energy ◽  
Energy Minimization ◽  
Critical Condition ◽  
Rotation Angle ◽  
The Self ◽  
Tension Force ◽  
Experimental Result ◽  
Soft Robotics ◽  
Righting Behavior ◽  
The Moment

In this study, we aim to probe the self-righting behavior of abalone on a substrate based on experiments and mechanistic analyses. A successful self-righting process of abalone is observed, and its critical condition in theory can be given in terms of the rotation angle. Then, according to the moment balance and potential energy minimization, the required tension force of the abalone foot for self-righting is derived with respect to the rotation angle. The experimental result also shows that in many cases the abalone cannot finish this self-righting process. Then, measurements on the tolerant strength of abalone muscle and tolerant adhesion strength of the foot on substrate are both conducted. It is judged that the abalone muscle is strong enough, which can provide enough tension force, and thus, the self-righting mainly depends on the adhesion area of the foot on substrate. These findings cast new light on engineering new types of biomaterials and devices, such as marine equipment and soft robotics.

Coupling Acoustic Analysis of Enclosure Consisting of Multi-Flexible Plates and its Active Structural Acoustic Control

2011 ◽  
Vol 50-51 ◽  
pp. 343-347
Author(s):  
Lin Ning Gu ◽  
Nan Chen
Keyword(s):  
Potential Energy ◽  
Cooperative Control ◽  
Acoustic Analysis ◽  
Control Method ◽  
Coupled System ◽  
Simply Supported ◽  
Acoustic Control ◽  
Flexible Plates ◽  
Control Forces ◽  
Distributed Cooperative Control

This paper develops a model of structural-acoustic coupled system of a rectangular enclosure involving two simply supported flexible plates. The acoustical potential energy and the optimal secondary control forces are derived theoretically. An example is presented to analyze the characteristics of the coupled system, the dominant factors that impact the coupling effects and the noise reduction with ASAC method. The paper shows the possibility of applying distributed cooperative control method to the structural-acoustic coupled system.

Form-finding and analysis of an alternative tensegrity dome configuration

2017 ◽  
Vol 20 (11) ◽  
pp. 1644-1657 ◽  
Author(s):  
Fatih Uzun
Keyword(s):  
Potential Energy ◽  
Energy Minimization ◽  
Minimum Potential Energy ◽  
Form Finding ◽  
Tensegrity Structures ◽  
Minimum Potential ◽  
Local Impact ◽  
Cable Dome ◽  
Minimization Approach ◽  
Cable Domes

Geiger domes are composed of cable and strut elements. This property of cable domes is the same as tensegrity structures, but in contraction to tensegrity structures, strut elements do not have a function that balances tension in cable elements with compression. In this study, a new cable dome configuration, that mimics the form of tensegrities, is proposed which is able to spread effect of an applied load into all elements of the dome and reduces its local impact. Form-finding and analysis of the Geiger and new dome configurations are performed based on the principle of minimum potential energy. Self-equilibrium forms with minimum potential energy are determined using genetic algorithms. The ability of genetic algorithm based potential energy minimization approach to perform form-finding of loaded or load free cable domes is investigated. Performance of the proposed configuration is tested and compared with the Geiger configuration under various loading conditions.

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