Optimal Gait Design for Systems With Drift on SO(3)

2013 ◽  
Author(s):  
Matthew Travers ◽  
Howie Choset
Keyword(s):  
Angular Momentum ◽  
Control Method ◽  
Three Dimensional ◽  
Free Flight ◽  
Gait Generation ◽  
Geometric Methods ◽  
Wide Range ◽  
Optimal Gait ◽  
Computational Reduction ◽  
Inertial Systems

Geckos that jump, cats that fall, and satellites that are inertially controlled fundamentally locomote in the same way. These systems are bodies in free flight that actively reorientate under the influence of conservation of angular momentum. We refer to such bodies as inertial systems. This work presents a novel control method for inertial systems with drift that combines geometric methods and computational control. In previous work, which focused on inertial systems starting from rest, a set of visual tools was developed that readily allowed on to design gaits. A key insight of this work was deriving coordinates, called minimum perturbation coordinates, which allowed the visual tools to be applied to the design of a wide range of motions. This paper draws upon the same insight to show that it is possible to approximately analyze the kinematic and dynamic contributions to net motion independently. This approach is novel because it uses geometric tools to support computational reduction in automatic gait generation on three-dimensional spaces.

Design and Implementation of Trajectory Tracking for 3-Axis Servo Table Using UMAC Based on Optimal Preview Controller

2012 ◽  
Vol 157-158 ◽  
pp. 165-170
Author(s):  
Mohammed M. Saleh All Bail ◽  
Yue Gang Tan
Keyword(s):  
Trajectory Tracking ◽  
Control Algorithm ◽  
Control Method ◽  
Simulation Analysis ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Experimental System ◽  
Driving Mechanism ◽  
Trajectory Tracking Control ◽  
Wide Range

This paper deals with the use of Programmable Multi-Axis Controller (UMAC) based on preview control method to give good trajectory tracking performance of 3-axis servo table. The paper consists of mathematical modeling, simulation, and an experimental work. Adopt the position coordinate method of three-dimensional space trajectory tracking. In this paper, based on previous research, it gives a trajectory tracking control algorithm, constructs an experimental system used to implement trajectory tracking, establishes its mathematical model, then uses the control algorithm to carry out simulation analysis, and finally uses the simulation results to carry out experimental study. In this paper, the experimental system, which decomposes object trajectory to various axes for tacking, is effective. It takes the best motion controller as the core, and takes servo motor as driving mechanism to drive precision positioning platform. It possesses of powerful real time and linkage performance, and the powerful hardware and software function enable it to have a wide range of applications.

Disorganization of a hole tone feedback loop by an axisymmetric obstacle on a downstream end plate

2014 ◽  
Vol 757 ◽  
pp. 908-942 ◽  
Author(s):  
K. Matsuura ◽  
M. Nakano
Keyword(s):  
Nozzle Exit ◽  
Passive Control ◽  
Control Method ◽  
Three Dimensional ◽  
Acoustic Power ◽  
Shear Layers ◽  
Mean Velocity ◽  
End Plate ◽  
Air Jet ◽  
Practical Engineering

AbstractThis study investigates the suppression of the sound produced when a jet, issued from a circular nozzle or hole in a plate, goes through a similar hole in a second plate. The sound, known as a hole tone, is encountered in many practical engineering situations. The mean velocity of the air jet $\def \xmlpi #1{}\def \mathsfbi #1{\boldsymbol {\mathsf {#1}}}\let \le =\leqslant \let \leq =\leqslant \let \ge =\geqslant \let \geq =\geqslant \def \Pr {\mathit {Pr}}\def \Fr {\mathit {Fr}}\def \Rey {\mathit {Re}}u_0$ was $6\text {--}12\ \mathrm{m}\ {\mathrm{s}}^{-1}$. The nozzle and the end plate hole both had a diameter of 51 mm, and the impingement length $L_{im}$ between the nozzle and the end plate was 50–90 mm. We propose a novel passive control method of suppressing the tone with an axisymmetric obstacle on the end plate. We find that the effect of the obstacle is well described by the combination ($W/L_{im}$, $h$) where $W$ is the distance from the edge of the end plate hole to the inner wall of the obstacle, and $h$ is the obstacle height. The tone is suppressed when backflows from the obstacle affect the jet shear layers near the nozzle exit. We do a direct sound computation for a typical case where the tone is successfully suppressed. Axisymmetric uniformity observed in the uncontrolled case is broken almost completely in the controlled case. The destruction is maintained by the process in which three-dimensional vortices in the jet shear layers convect downstream, interact with the obstacle and recursively disturb the jet flow from the nozzle exit. While regions near the edge of the end plate hole are responsible for producing the sound in the controlled case as well as in the uncontrolled case, acoustic power in the controlled case is much lower than in the uncontrolled case because of the disorganized state.

Turbulent three-dimensional dielectric electrohydrodynamic convection between two plates

2012 ◽  
Vol 696 ◽  
pp. 228-262 ◽  
Author(s):  
A. Kourmatzis ◽  
J. S. Shrimpton
Keyword(s):  
Spatial Data ◽  
Three Dimensional ◽  
Reynolds Numbers ◽  
Two Dimensions ◽  
Three Dimensions ◽  
Energy Budgets ◽  
Turbulent Regime ◽  
Scalar Flux ◽  
Wide Range ◽  
Scalar Variance

AbstractThe fundamental mechanisms responsible for the creation of electrohydrodynamically driven roll structures in free electroconvection between two plates are analysed with reference to traditional Rayleigh–Bénard convection (RBC). Previously available knowledge limited to two dimensions is extended to three-dimensions, and a wide range of electric Reynolds numbers is analysed, extending into a fully inherently three-dimensional turbulent regime. Results reveal that structures appearing in three-dimensional electrohydrodynamics (EHD) are similar to those observed for RBC, and while two-dimensional EHD results bear some similarities with the three-dimensional results there are distinct differences. Analysis of two-point correlations and integral length scales show that full three-dimensional electroconvection is more chaotic than in two dimensions and this is also noted by qualitatively observing the roll structures that arise for both low (${\mathit{Re}}_{E} = 1$) and high electric Reynolds numbers (up to ${\mathit{Re}}_{E} = 120$). Furthermore, calculations of mean profiles and second-order moments along with energy budgets and spectra have examined the validity of neglecting the fluctuating electric field ${ E}_{i}^{\ensuremath{\prime} } $ in the Reynolds-averaged EHD equations and provide insight into the generation and transport mechanisms of turbulent EHD. Spectral and spatial data clearly indicate how fluctuating energy is transferred from electrical to hydrodynamic forms, on moving through the domain away from the charging electrode. It is shown that ${ E}_{i}^{\ensuremath{\prime} } $ is not negligible close to the walls and terms acting as sources and sinks in the turbulent kinetic energy, turbulent scalar flux and turbulent scalar variance equations are examined. Profiles of hydrodynamic terms in the budgets resemble those in the literature for RBC; however there are terms specific to EHD that are significant, indicating that the transfer of energy in EHD is also attributed to further electrodynamic terms and a strong coupling exists between the charge flux and variance, due to the ionic drift term.

scholarly journals Application of Dendrimers for Treating Parasitic Diseases

Pharmaceutics ◽  
2021 ◽  
Vol 13 (3) ◽  
pp. 343
Author(s):  
Veronica Folliero ◽  
Carla Zannella ◽  
Annalisa Chianese ◽  
Debora Stelitano ◽  
Annalisa Ambrosino ◽  
...  
Keyword(s):  
Drug Delivery ◽  
Water Solubility ◽  
Parasitic Infection ◽  
Three Dimensional ◽  
Medical Knowledge ◽  
High Ratio ◽  
Molecular Volume ◽  
Parasitic Infections ◽  
Parasitic Diseases ◽  
Wide Range

Despite advances in medical knowledge, parasitic diseases remain a significant global health burden and their pharmacological treatment is often hampered by drug toxicity. Therefore, drug delivery systems may provide useful advantages when used in combination with conventional therapeutic compounds. Dendrimers are three-dimensional polymeric structures, characterized by a central core, branches and terminal functional groups. These nanostructures are known for their defined structure, great water solubility, biocompatibility and high encapsulation ability against a wide range of molecules. Furthermore, the high ratio between terminal groups and molecular volume render them a hopeful vector for drug delivery. These nanostructures offer several advantages compared to conventional drugs for the treatment of parasitic infection. Dendrimers deliver drugs to target sites with reduced dosage, solving side effects that occur with accepted marketed drugs. In recent years, extensive progress has been made towards the use of dendrimers for therapeutic, prophylactic and diagnostic purposes for the management of parasitic infections. The present review highlights the potential of several dendrimers in the management of parasitic diseases.

scholarly journals Vortex states in an acoustic Weyl crystal with a topological lattice defect

2021 ◽  
Vol 12 (1) ◽  
Author(s):  
Qiang Wang ◽  
Yong Ge ◽  
Hong-xiang Sun ◽  
Haoran Xue ◽  
Ding Jia ◽  
...  
Keyword(s):  
Angular Momentum ◽  
Orbital Angular Momentum ◽  
Lattice Defect ◽  
Three Dimensional ◽  
Surface States ◽  
Real Space ◽  
Lattice Defects ◽  
One Dimensional ◽  
Topological Features ◽  
Topological Lattice

AbstractCrystalline materials can host topological lattice defects that are robust against local deformations, and such defects can interact in interesting ways with the topological features of the underlying band structure. We design and implement a three dimensional acoustic Weyl metamaterial hosting robust modes bound to a one-dimensional topological lattice defect. The modes are related to topological features of the bulk bands, and carry nonzero orbital angular momentum locked to the direction of propagation. They span a range of axial wavenumbers defined by the projections of two bulk Weyl points to a one-dimensional subspace, in a manner analogous to the formation of Fermi arc surface states. We use acoustic experiments to probe their dispersion relation, orbital angular momentum locked waveguiding, and ability to emit acoustic vortices into free space. These results point to new possibilities for creating and exploiting topological modes in three-dimensional structures through the interplay between band topology in momentum space and topological lattice defects in real space.

scholarly journals An Overview on the Rheology, Mechanical Properties, Durability, 3D Printing, and Microstructural Performance of Nanomaterials in Cementitious Composites

Materials ◽  
2021 ◽  
Vol 14 (11) ◽  
pp. 2950
Author(s):  
Hongwei Song ◽  
Xinle Li
Keyword(s):  
Mechanical Properties ◽  
3D Printing ◽  
Three Dimensional ◽  
Cementitious Materials ◽  
Research Area ◽  
Cementitious Composites ◽  
Split Tensile Strength ◽  
Contour Crafting ◽  
Wide Range ◽  
Active Research

The most active research area is nanotechnology in cementitious composites, which has a wide range of applications and has achieved popularity over the last three decades. Nanoparticles (NPs) have emerged as possible materials to be used in the field of civil engineering. Previous research has concentrated on evaluating the effect of different NPs in cementitious materials to alter material characteristics. In order to provide a broad understanding of how nanomaterials (NMs) can be used, this paper critically evaluates previous research on the influence of rheology, mechanical properties, durability, 3D printing, and microstructural performance on cementitious materials. The flow properties of fresh cementitious composites can be measured using rheology and slump. Mechanical properties such as compressive, flexural, and split tensile strength reveal hardened properties. The necessary tests for determining a NM’s durability in concrete are shrinkage, pore structure and porosity, and permeability. The advent of modern 3D printing technologies is suitable for structural printing, such as contour crafting and binder jetting. Three-dimensional (3D) printing has opened up new avenues for the building and construction industry to become more digital. Regardless of the material science, a range of problems must be tackled, including developing smart cementitious composites suitable for 3D structural printing. According to the scanning electron microscopy results, the addition of NMs to cementitious materials results in a denser and improved microstructure with more hydration products. This paper provides valuable information and details about the rheology, mechanical properties, durability, 3D printing, and microstructural performance of cementitious materials with NMs and encourages further research.

scholarly journals Polymer cyclization for the emergence of hierarchical nanostructures

2021 ◽  
Vol 12 (1) ◽  
Author(s):  
Chaojian Chen ◽  
Manjesh Kumar Singh ◽  
Katrin Wunderlich ◽  
Sean Harvey ◽  
Colette J. Whitfield ◽  
...  
Keyword(s):  
Self Assembly ◽  
Three Dimensional ◽  
Hierarchical Structures ◽  
Structural Similarity ◽  
Vital Role ◽  
Nanomaterial Synthesis ◽  
Wide Range ◽  
Linear Poly ◽  
Polymer Folding ◽  
Dynamics Simulations

AbstractThe creation of synthetic polymer nanoobjects with well-defined hierarchical structures is important for a wide range of applications such as nanomaterial synthesis, catalysis, and therapeutics. Inspired by the programmability and precise three-dimensional architectures of biomolecules, here we demonstrate the strategy of fabricating controlled hierarchical structures through self-assembly of folded synthetic polymers. Linear poly(2-hydroxyethyl methacrylate) of different lengths are folded into cyclic polymers and their self-assembly into hierarchical structures is elucidated by various experimental techniques and molecular dynamics simulations. Based on their structural similarity, macrocyclic brush polymers with amphiphilic block side chains are synthesized, which can self-assemble into wormlike and higher-ordered structures. Our work points out the vital role of polymer folding in macromolecular self-assembly and establishes a versatile approach for constructing biomimetic hierarchical assemblies.

scholarly journals A developmentally descriptive method for quantifying shape in gastropod shells

2020 ◽  
Vol 17 (163) ◽  
pp. 20190721
Author(s):  
J. Larsson ◽  
A. M. Westram ◽  
S. Bengmark ◽  
T. Lundh ◽  
R. K. Butlin
Keyword(s):  
Empirical Studies ◽  
Three Dimensional ◽  
Shell Shape ◽  
Large Set ◽  
Littorina Saxatilis ◽  
Shape Variation ◽  
Gastropod Shell ◽  
Geometric Morphometric ◽  
Wide Range ◽  
Descriptive Method

The growth of snail shells can be described by simple mathematical rules. Variation in a few parameters can explain much of the diversity of shell shapes seen in nature. However, empirical studies of gastropod shell shape variation typically use geometric morphometric approaches, which do not capture this growth pattern. We have developed a way to infer a set of developmentally descriptive shape parameters based on three-dimensional logarithmic helicospiral growth and using landmarks from two-dimensional shell images as input. We demonstrate the utility of this approach, and compare it to the geometric morphometric approach, using a large set of Littorina saxatilis shells in which locally adapted populations differ in shape. Our method can be modified easily to make it applicable to a wide range of shell forms, which would allow for investigations of the similarities and differences between and within many different species of gastropods.

scholarly journals A Review on Biosensors and Recent Development of Nanostructured Materials-Enabled Biosensors

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1109
Author(s):  
Varnakavi. Naresh ◽  
Nohyun Lee
Keyword(s):  
High Surface ◽  
Three Dimensional ◽  
Biological Response ◽  
Volume Ratio ◽  
Recent Decade ◽  
Disease Diagnosis ◽  
Electrical Signal ◽  
Detection Sensitivity ◽  
Wide Range ◽  
Color Tunability

A biosensor is an integrated receptor-transducer device, which can convert a biological response into an electrical signal. The design and development of biosensors have taken a center stage for researchers or scientists in the recent decade owing to the wide range of biosensor applications, such as health care and disease diagnosis, environmental monitoring, water and food quality monitoring, and drug delivery. The main challenges involved in the biosensor progress are (i) the efficient capturing of biorecognition signals and the transformation of these signals into electrochemical, electrical, optical, gravimetric, or acoustic signals (transduction process), (ii) enhancing transducer performance i.e., increasing sensitivity, shorter response time, reproducibility, and low detection limits even to detect individual molecules, and (iii) miniaturization of the biosensing devices using micro-and nano-fabrication technologies. Those challenges can be met through the integration of sensing technology with nanomaterials, which range from zero- to three-dimensional, possessing a high surface-to-volume ratio, good conductivities, shock-bearing abilities, and color tunability. Nanomaterials (NMs) employed in the fabrication and nanobiosensors include nanoparticles (NPs) (high stability and high carrier capacity), nanowires (NWs) and nanorods (NRs) (capable of high detection sensitivity), carbon nanotubes (CNTs) (large surface area, high electrical and thermal conductivity), and quantum dots (QDs) (color tunability). Furthermore, these nanomaterials can themselves act as transduction elements. This review summarizes the evolution of biosensors, the types of biosensors based on their receptors, transducers, and modern approaches employed in biosensors using nanomaterials such as NPs (e.g., noble metal NPs and metal oxide NPs), NWs, NRs, CNTs, QDs, and dendrimers and their recent advancement in biosensing technology with the expansion of nanotechnology.

scholarly journals Pulsed Electromagnetic Cross-Well Exploration for Monitoring Permafrost and Examining the Processes of Its Geocryological Changes

Geosciences ◽  
2021 ◽  
Vol 11 (2) ◽  
pp. 60
Author(s):  
Viacheslav Glinskikh ◽  
Oleg Nechaev ◽  
Igor Mikhaylov ◽  
Kirill Danilovskiy ◽  
Vladimir Olenchenko
Keyword(s):  
High Performance ◽  
Geophysical Methods ◽  
Three Dimensional ◽  
High Sensitivity ◽  
Data Interpretation ◽  
Industrial Facilities ◽  
Wide Range ◽  
Vector Finite Element ◽  
A New Technique ◽  
Pulsed Electromagnetic

This paper is dedicated to the topical problem of examining permafrost’s state and the processes of its geocryological changes by means of geophysical methods. To monitor the cryolithozone, we proposed and scientifically substantiated a new technique of pulsed electromagnetic cross-well sounding. Based on the vector finite-element method, we created a mathematical model of the cross-well sounding process with a pulsed source in a three-dimensional spatially heterogeneous medium. A high-performance parallel computing algorithm was developed and verified. Through realistic geoelectric models of permafrost with a talik under a highway, constructed following the results of electrotomography field data interpretation, we numerically simulated the pulsed sounding on the computing resources of the Siberian Supercomputer Center of SB RAS. The simulation results suggest the proposed system of pulsed electromagnetic cross-well monitoring to be characterized by a high sensitivity to the presence and dimensions of the talik. The devised approach can be oriented to addressing a wide range of issues related to monitoring permafrost rocks under civil and industrial facilities, buildings, and constructions.

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