Modeling and Parameter Identification of an In-Tank Swimming Robot Performing Floor Inspection

2018 ◽  
Vol 141 (3) ◽  
Author(s):  
Imen Hbiri ◽  
Houssem Karkri ◽  
Fathi H. Ghorbel ◽  
Slim Choura
Keyword(s):  
Dynamic Model ◽  
Drag Force ◽  
Equations Of Motion ◽  
Experimental Tests ◽  
Force Model ◽  
Friction Drag ◽  
Control Laws ◽  
Low Speed ◽  
Advanced Control ◽  
Computational Fluid Dynamics Cfd

In this paper, we develop the equations of motion at low-speed of a swimming robot for tank floor inspection. The proposed dynamic model incorporates a new friction drag force model for low-speed streamlined swimming robots. Based on a boundary layer theory analysis, we prove that for low-speed maneuvering case (Re from 103 to 105), the friction drag force component is nonlinear and is not insignificant, as previously considered. The proposed drag viscous model is derived based on hydrodynamic laws, validated via computational fluid dynamics (CFD) simulations, and then experimental tests. The model hydrodynamic coefficients are estimated through CFD tools. The robot wheels friction LuGre model is experimentally identified. Extensive experimental tests were conducted on the swimming robot in a circular water pool to validate the complete dynamic model. The dynamic model developed in this paper may be useful to design model-based advanced control laws required for accurate maneuverability of floor inspection swimming robots.

Design of a Multijet Omnidirectional Propulsion System for Small Jet-Boats

2010 ◽  
Vol 132 (11) ◽  
Author(s):  
David Foley ◽  
Jean-Sebastien Plante
Keyword(s):  
High Speed ◽  
Flow Model ◽  
Open Loop ◽  
Propulsion System ◽  
Experimental Results ◽  
Control Algorithms ◽  
Control Laws ◽  
Low Speed ◽  
Advanced Control ◽  
Design Requirements

Jet-boats perform remarkably well at high-speed but lack low speed maneuverability for tight maneuvers such as docking. This paper presents a joystick controlled omnidirectional propulsion system for jet-boats. The concept uses a set of fixed jet nozzles disposed around the hull. When a force is commanded by the joystick, valves on each nozzle modulate the flow so that the sum of nozzle thrusts correspond to the commanded force. The positions and angles of the nozzles are optimized with an index of omnidirectionality quality based on the projection of a set of force solutions on a shell with the shape of a desired force space. The choice of valve positions and engine speeds is done by the numerical inversion of an internal viscous flow model. A 3D simulator, backed by experimental results, serves to (1) evaluate the ability of the proposed concept in meeting its design requirements and (2) develop control algorithms. Experimental results show that the proposed omnidirectional system is effective for low speed maneuverability with open-loop force control. The present work also offers an effective omnidirectional propulsion system that is easy to enhance with advanced control laws. Velocity feedback control is given as an example and shows important improvement of maneuverability and robustness to miscalibration.

Yaw Galloping of a TLWP Platform Under High Speed Currents by Analytical Methods and its Comparison With Experimental Results

2017 ◽  
Author(s):  
Francisco Lamas ◽  
Miguel A. M. Ramirez ◽  
Antonio Carlos Fernandes
Keyword(s):  
High Speed ◽  
Production Systems ◽  
Experimental Tests ◽  
Experimental Results ◽  
Analytical Methodology ◽  
New Approach ◽  
Laboratory Facilities ◽  
Polynomial Curve ◽  
Computational Fluid Dynamics Cfd ◽  
Cfd Analyses

Flow Induced Motions are always an important subject during both design and operational phases of an offshore platform life. These motions could significantly affect the performance of the platform, including its mooring and oil production systems. These kind of analyses are performed using basically two different approaches: experimental tests with reduced models and, more recently, with Computational Fluid Dynamics (CFD) dynamic analysis. The main objective of this work is to present a new approach, based on an analytical methodology using static CFD analyses to estimate the response on yaw motions of a Tension Leg Wellhead Platform on one of the several types of motions that can be classified as flow-induced motions, known as galloping. The first step is to review the equations that govern the yaw motions of an ocean platform when subjected to currents from different angles of attack. The yaw moment coefficients will be obtained using CFD steady-state analysis, on which the yaw moments will be calculated for several angles of attack, placed around the central angle where the analysis is being carried out. Having the force coefficients plotted against the angle values, we can adjust a polynomial curve around each analysis point in order to evaluate the amplitude of the yaw motion using a limit cycle approach. Other properties of the system which are flow-dependent, such as damping and added mass, will also be estimated using CFD. The last part of this work consists in comparing the analytical results with experimental results obtained at the LOC/COPPE-UFRJ laboratory facilities.

Creating the Wind Energy for Operating the 3-C-Section Blades Wind Car

2012 ◽  
Vol 622-623 ◽  
pp. 1188-1193 ◽  
Author(s):  
Hüseyin Çamur ◽  
Youssef Kassem
Keyword(s):  
Wind Speed ◽  
Angular Velocity ◽  
Wind Energy ◽  
Drag Force ◽  
Mechanical Energy ◽  
Main Shaft ◽  
Airflow Velocity ◽  
Low Speed ◽  
Low Wind Speed

The purpose of this work is to determine the drag characteristics and the torque of three C-section blades wind car. Three C-section blades are directly connected to wheels by using of various kinds of links. Gears are used to convert the wind energy to mechanical energy to overcome the load exercised on the main shaft under low speed. Previous work on three vertical blades wind car resulted in discrepancies when compared to this work. Investigating these differences was the motivation for this series of work. The calculated values were compared to the data of three vertical blades wind car. The work was conducted in a low wind speed. The drag force acting on each model was calculated with an airflow velocity of 4 m/s and angular velocity of the blade of 13.056 rad/s.

Grinding Force Model for Low-Speed Grinding Based on Impact Principle

2013 ◽  
Vol 797 ◽  
pp. 123-128
Author(s):  
Ming He Liu ◽  
Xiu Ming Zhang ◽  
Shi Chao Xiu
Keyword(s):  
Sliding Friction ◽  
Impact Load ◽  
Grinding Force ◽  
Calculation Model ◽  
Force Model ◽  
Grinding Process ◽  
Low Speed ◽  
Impact Area ◽  
Force Mechanism ◽  
The Impact

In the low-speed grinding process, the force generated when the wheel grinding the workpiece is the result of sliding friction, plough and cutting. While in the actual study, the cutting process has attracted extensive attention. Impact effect to the entire grinding process on the contact is ignored so that the error exists between the calculation grinding force and the measured grinding force. Basing on the shock effect to the grinding process, the paper divides the contact area into impact area and cutting area. And the model of impact load generated from single grit is built. Moreover, the grinding force theoretical calculation model and total grinding force mathematical model is also constructed by analyzing the impact load affecting on the grinding force mechanism. Finally experimental study verifies the correctness of theoretical analysis.

Reduction of Noise Inside a Cavity by Piezoelectric Actuators

2003 ◽  
Vol 125 (1) ◽  
pp. 12-17 ◽  
Author(s):  
I. Hagiwara ◽  
D. W. Wang ◽  
Q. Z. Shi ◽  
R. S. Rao
Keyword(s):  
Sound Pressure ◽  
Control Mechanism ◽  
Equations Of Motion ◽  
Piezoelectric Actuators ◽  
Governing Equations ◽  
Control Laws ◽  
Modal Coupling ◽  
Modal Amplitude ◽  
Global And Local ◽  
Fully Coupled

A new analytical model is developed for the reduction of noise inside a cavity using distributed piezoelectric actuators. A modal coupling method is used to establish the governing equations of motion of the fully coupled acoustics-structure-piezoelectric patch system. Two performance functions relating “global” and “local” optimal control of sound pressure levels (SPL) respectively are applied to obtain the control laws. The discussions on associated control mechanism show that both the mechanisms of modal amplitude suppression and modal rearrangement may sometimes coexist in the implementation of optimal noise control.

Hertz Contact Force Model With Permanent Indentation in Impact Analysis of Solids

1992 ◽  
Author(s):  
Hamid M. Lankarani ◽  
Parviz E. Nikravesh
Keyword(s):  
Contact Force ◽  
Impact Analysis ◽  
Equations Of Motion ◽  
Solid Particles ◽  
Hertzian Contact ◽  
Contact Period ◽  
Force Model ◽  
Unknown Parameters ◽  
Contact Force Model ◽  
Energy And Momentum

Abstract A continuous analysis method for the direct-central impact of two solid particles is presented. Based on the assumption that local plasticity effects are the sole factor accounting for the dissipation of energy in impact, a Hertzian contact force model with permanent indentation is constructed. Utilizing energy and momentum considerations, the unknown parameters in the model are analytically evaluated in terms of a given coefficient of restitution and velocities before impact. The equations of motion of the two solids may then be integrated forward in time knowing the variation of the contact force during the contact period. For Illustration, an impact of two soft metallic particles is studied.

DETERMINATION OF DRAG AND LIFT RELATED COEFFICIENTS OF AN AUV USING COMPUTATIONAL AND EXPERIMENTAL FLUID DYNAMICS METHODS

2021 ◽  
Vol 162 (A2) ◽  
Author(s):  
E Javanmard ◽  
Sh Mansoorzadeh ◽  
A Pishevar ◽  
J A Mehr
Keyword(s):  
Fluid Dynamics ◽  
Autonomous Underwater Vehicle ◽  
Experimental Tests ◽  
Hydrodynamic Coefficients ◽  
Experimental Fluid Dynamics ◽  
Computational Fluid Dynamics Cfd ◽  
Drag And Lift ◽  
Control Surfaces ◽  
Experimental Fluid

Determination of hydrodynamic coefficients is a vital part of predicting the dynamic behavior of an Autonomous Underwater Vehicle (AUV). The aim of the present study was to determine the drag and lift related hydrodynamic coefficients of a research AUV, using Computational and Experimental Fluid Dynamics methods. Experimental tests were carried out at AUV speed of 1.5 m s-1 for two general cases: I. AUV without control surfaces (Hull) at various angles of attack in order to calculate Hull related hydrodynamic coefficients and II. AUV with control surfaces at zero angle of attack but in different stern angles to calculate hydrodynamic coefficients related to control surfaces. All the experiments carried out in a towing tank were also simulated by a commercial computational fluid dynamics (CFD) code. The hydrodynamic coefficients obtained from the numerical simulations were in close agreement with those obtained from the experiments.

On the Properties of a Dynamic Model of Flexible Robot Manipulators

1998 ◽  
Vol 120 (1) ◽  
pp. 8-14 ◽  
Author(s):  
Marco A. Arteaga
Keyword(s):  
Dynamic Model ◽  
Structural Properties ◽  
Robot Manipulators ◽  
Equations Of Motion ◽  
Mechanical Systems ◽  
Control Design ◽  
Flexible Manipulator ◽  
Robot Dynamics ◽  
Flexible Link ◽  
Flexible Robot

Control design of flexible robot manipulators can take advantage of the structural properties of the model used to describe the robot dynamics. Many of these properties are physical characteristics of mechanical systems whereas others arise from the method employed to model the flexible manipulator. In this paper, the modeling of flexible-link robot manipulators on the basis of the Lagrange’s equations of motion combined with the assumed modes method is briefly discussed. Several notable properties of the dynamic model are presented and their impact on control design is underlined.

scholarly journals Numerical and experimental analyses for the improvement of surface instant decontamination technology through biocidal agent dispersion: Potential of application during pandemic

PLoS ONE ◽  
2021 ◽  
Vol 16 (5) ◽  
pp. e0251817
Author(s):  
Paulo Roberto Freitas Neves ◽  
Turan Dias Oliveira ◽  
Tarcísio Faustino Magalhães ◽  
Paulo Roberto Santana dos Reis ◽  
Luzia Aparecida Tofaneli ◽  
...  
Keyword(s):  
Experimental Tests ◽  
Cfd Simulations ◽  
New Device ◽  
Qualitative And Quantitative ◽  
Droplet Concentration ◽  
Computational Fluid Dynamics Cfd ◽  
Suspended Droplet ◽  
The Impact ◽  
Disinfection Chamber ◽  
Important Form

The transmission of SARS-CoV-2 through contact with contaminated surfaces or objects is an important form of transmissibility. Thus, in this study, we evaluated the performance of a disinfection chamber designed for instantaneous dispersion of the biocidal agent solution, in order to characterize a new device that can be used to protect individuals by reducing the transmissibility of the disease through contaminated surfaces. We proposed the necessary adjustments in the configuration to improve the dispersion on surfaces and the effectiveness of the developed equipment. Computational Fluid Dynamics (CFD) simulations of the present technology with a chamber having six nebulizer nozzles were performed and validated through qualitative and quantitative comparisons, and experimental tests were conducted using the method Water-Sensitive Paper (WSP), with an exposure to the biocidal agent for 10 and 30 s. After evaluation, a new passage procedure for the chamber with six nozzles and a new configuration of the disinfection chamber were proposed. In the chamber with six nozzles, a deficiency was identified in its central region, where the suspended droplet concentration was close to zero. However, with the new passage procedure, there was a significant increase in wettability of the surface. With the proposition of the chamber with 12 nozzles, the suspended droplet concentration in different regions increased, with an average increase of 266%. The experimental results of the new configuration proved that there was an increase in wettability at all times of exposure, and it was more significant for an exposure of 30 s. Additionally, even in different passage procedures, there were no significant differences in the results for an exposure of 10 s, thereby showing the effectiveness of the new configuration or improved spraying and wettability by the biocidal agent, as well as in minimizing the impact caused by human factor in the performance of the disinfection technology.

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