System-Level Optimization Model for a Snake-Inspired Robot Based on a Rectilinear Gait

2008 ◽  
Author(s):  
James K. Hopkins ◽  
Brent W. Spranklin ◽  
Satyandra K. Gupta
Keyword(s):  
Optimization Model ◽  
Equations Of Motion ◽  
Optimal Performance ◽  
System Level ◽  
Hierarchical Optimization ◽  
Physical Parameters ◽  
Optimization Approach ◽  
Gait Parameters ◽  
Robot Performance

Physical parameters of modules and gait parameters affect the overall snake-inspired robot performance. Hence the system-level optimization model has to concurrently optimize the module parameters and the gait. The equations of motion associated with the rectilinear gait are quite complex due to the changing topology of the rectilinear gait. Embedding these equations in the system-level optimization model leads to a computationally challenging formulation. This paper presents a system-level optimization model that utilizes a hierarchical optimization approach and meta-models of the pre-computed optimal gaits to reduce the complexity of the optimization model. This approach enabled us to use an experimentally validated physics-based model of the rectilinear gait and yet at the same time enabled us to create a system-level optimization model with a manageable complexity. A detailed case study is presented to show the importance of concurrently optimizing the module parameters and the gait using our model to obtain the optimal performance for a given mission.

A Case Study in Optimization of Gait and Physical Parameters for a Snake-Inspired Robot Based on a Rectilinear Gait

2011 ◽  
Vol 3 (1) ◽  
Author(s):  
James K. Hopkins ◽  
Brent W. Spranklin ◽  
Satyandra K. Gupta
Keyword(s):  
Optimization Model ◽  
Optimal Performance ◽  
System Level ◽  
Physical Parameters ◽  
Challenging Problem ◽  
Gait Parameters ◽  
Overall Performance

Physical parameters of the constituent modules and gait parameters affect the overall performance of snake-inspired robots. Hence, a system-level optimization model needs to concurrently optimize the module parameters and the gait. Incorporating a physics-based model of rectilinear gaits in the system-level optimization model is a computationally challenging problem. This paper presents a case study to illustrate how metamodels of the precomputed optimal rectilinear gaits can be utilized to reduce the complexity of the system-level optimization model. An example is presented to illustrate the importance of concurrently optimizing the module parameters and the gait to obtain the optimal performance for a given mission.

scholarly journals Sensor Networks Hierarchical Optimization Model for Security Monitoring in High-Speed Railway Transport Hub

2015 ◽  
Vol 2015 ◽  
pp. 1-9 ◽  
Author(s):  
Zhengyu Xie ◽  
Yong Qin
Keyword(s):  
Sensor Networks ◽  
Optimization Model ◽  
High Speed ◽  
Optimization Problem ◽  
Optimization Method ◽  
Hierarchical Optimization ◽  
Railway Transport ◽  
High Speed Railway ◽  
Security Monitoring

We consider the sensor networks hierarchical optimization problem in high-speed railway transport hub (HRTH). The sensor networks are optimized from three hierarchies which are key area sensors optimization, passenger line sensors optimization, and whole area sensors optimization. Case study on a specific HRTH in China showed that the hierarchical optimization method is effective to optimize the sensor networks for security monitoring in HRTH.

Cooperative parameter estimation of a nonuniform payload by multiple quadrotors

Robotica ◽  
2021 ◽  
pp. 1-20
Author(s):  
Farhad Arab ◽  
Farzad A. Shirazi ◽  
Mohammad Reza Hairi Yazdi
Keyword(s):  
Attitude Control ◽  
Equations Of Motion ◽  
Estimation Algorithm ◽  
Adaptive Controller ◽  
Dynamic Equations ◽  
Physical Parameters ◽  
Constraint Forces ◽  
Outer Loop ◽  
Simulation Results

Abstract Thispaper addresses the problem of carrying an unknown nonuniform payload by multiple quadrotor agents. The load is modeled as a rigid body with unknown weight and position of Center of Gravity (CG) for the agents, and is included in their dynamic equations of motion. The agents and the load are assumed to be connected to each other by taut ropes. The Udwadia–Kalaba equation is used to calculate the constraint forces on the ropes acting on each quadrotor. Inner-loop and outer-loop controllers for quadrotors position and attitude control are presented. For the outer loop, an estimation algorithm based on the invariance and immersion adaptive control is utilized to estimate the unknown physical parameters of the payload including mass and CG position without using multi-axes force/torque sensors. The inner-loop controller employs an adaptive controller. Simulation results, for two and four agents carrying a nonuniform rod and cubic payload, show the effectiveness of the proposed algorithm. A case study is also performed to investigate the effect of quadrotors positioning on flight endurance of the cooperative aerial team carrying a nonuniform payload.

Evaluating The Effectiveness Of Problem-Based Learning (Pbl) Implemented In The Textile Engineering Course - A Case Study On Ahsanullah University Of Science And Technology, Bangladesh

2014 ◽  
Vol 1 (1) ◽  
pp. 111-114
Author(s):  
Lal Mohan Baral ◽  
Ramzan Muhammad ◽  
Claudiu Vasile Kifor ◽  
Ioan Bondrea
Keyword(s):  
Engineering Students ◽  
Science And Technology ◽  
Problem Based Learning ◽  
Professional Life ◽  
System Level ◽  
Teaching Tool ◽  
Technical Problems ◽  
Empirical Survey ◽  
Undergraduate Programs

AbstractProblem-based learning as a teaching tool is now used globally in many areas of higher education. It provides an opportunity for students to explore technical problems from a system-level perspective and to be self-directed life-long learner which is mandatory for equipping engineering students with the skill and knowledge. This paper presents a case study illustrating the effectiveness of implemented Problem-based learning (PBL) during five semesters in the undergraduate programs of Textile Engineering in Ahsanullah University of Science and Technology (AUST). An assessment has been done on the basis of feedback from the students as well as their employers by conducting an empirical survey for the evaluation of PBL impact to enhance the student's competencies. The Evaluations indicate that students have achieved remarkable competencies through PBL practices which helped them to be competent in their professional life.

A Methodology for Characterizing System-Level ESD Sensitivity

2004 ◽  
Author(s):  
Marie-Pascale Chagny ◽  
John A. Naoum
Keyword(s):  
Electrostatic Discharge ◽  
Computer Systems ◽  
Electronic Equipment ◽  
Experimental Methodology ◽  
Computer Users ◽  
System Level ◽  
Permanent Damage ◽  
Design Improvement ◽  
Desktop Computers

Abstract Over the years, failures induced by an electrostatic discharge (ESD) have become a major concern for semiconductor manufacturers and electronic equipment makers. The ESD events that cause destructive failures have been studied extensively [1, 2]. However, not all ESD events cause permanent damage. Some events lead to recoverable failures that disrupt system functionality only temporarily (e.g. reboot, lockup, and loss of data). These recoverable failures are not as well understood as the ones causing permanent damage and tend to be ignored in the ESD literature [3, 4]. This paper analyzes and characterizes how these recoverable failures affect computer systems. An experimental methodology is developed to characterize the sensitivity of motherboards to ESD by simulating the systemlevel ESD events induced by computer users. The manuscript presents a case study where this methodology was used to evaluate the robustness of desktop computers to ESD. The method helped isolate several weak nets contributing to the failures and identified a design improvement. The result was that the robustness of the systems improved by a factor of 2.

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