Application of Vector Bond Graphs to the Modeling of a Class of Hand Prostheses

Volume 3 ◽  
2004 ◽  
Author(s):  
Anand Vaz ◽  
Shinichi Hirai
Keyword(s):  
Three Dimensional ◽  
Graph Model ◽  
Systems Design ◽  
Bond Graph ◽  
Bond Graphs ◽  
Prosthetic Joints ◽  
Angular Velocities ◽  
Control Systems Design ◽  
And Control ◽  
Systematic Derivation

Vector bond graphs have been systematically applied to the modeling of prosthesis for a partially impaired hand. The partial impairment considered covers a category of the hand that has lost one or more fingers but retains the ability of its remaining natural fingers. The fingers and their prosthetic extensions are considered as rigid links. Rotation matrices which specify orientation of finger links are obtained from respective angular velocities. String-tube mechanism used to actuate prosthetic joints is modeled with the connection to joint variables of the mechanism. The vector bond graph approach enables the modeling of three dimensional movement of the hand mechanism. An example of a two joint string-tube actuated prosthetic mechanism is presented to describe the construction of the vector bond graph model. Systematic derivation of dynamics from the vector bond graphs is shown. The approach based on vector bond graphs presented here is useful for simulations and control systems design of such biomechanical systems.

Systematic Model Decoupling Through Assessment of Power-Conserving Constraints: An Engine Dynamics Case Study

2004 ◽  
Author(s):  
Geoff Rideout ◽  
Jeffrey L. Stein ◽  
Loucas S. Louca
Keyword(s):  
Power Flow ◽  
Three Dimensional ◽  
Coupled Model ◽  
Graph Model ◽  
Bond Graph ◽  
Bond Graphs ◽  
Third Order ◽  
Engine Mount ◽  
The One

Simplified models for predicting engine mount forces have traditionally been developed based on the assumption that for a well-balanced low-speed engine, the reciprocating dynamics can be decoupled from the three-dimensional motion of the engine block. In this paper the simplification is done systematically, using a technique previously developed by the authors to search for decoupling within a model, and to partition models in which decoupling is found. Beginning with a fully-coupled bond graph model of a balanced in-line six-cylinder engine, bonds representing negligible constraint terms are found based on aggregate power flow, and are converted to modulated sources. Separate bond graphs joined by modulating signals result. The “driving” bond graph represents the reciprocating dynamics, and the “driven” bond graph represents motion of the block on its mounts. The partitions are smaller than the original model and are simulated individually to accurately predict the dominant third-order mount forces with significant computational savings. The decoupling is found without the modeler relying on traditional assumed forms of the one-way coupled model, and can be quantitatively tracked as the system parameters and inputs change.

Embedded and Control Systems Design and Implementation of T-Shaped Tilt-Rotor Tri-copter

2021 ◽  
Author(s):  
Muhammad Shahzaib Atif ◽  
Zarrar Haider ◽  
Malik Muhammad Zohaib ◽  
Mirza Ali Raza
Keyword(s):  
Control Systems ◽  
Systems Design ◽  
Tilt Rotor ◽  
Design And Implementation ◽  
Control Systems Design ◽  
And Control

Bond Graph Sign Conventions

1975 ◽  
Vol 97 (2) ◽  
pp. 184-188 ◽  
Author(s):  
A. S. Perelson
Keyword(s):  
Graph Model ◽  
Bond Graph ◽  
Equivalence Classes ◽  
Parameter System ◽  
Bond Graphs ◽  
Lumped Parameter ◽  
Oriented Object

The lack of arbitrariness in the choice of bond graph sign conventions is established. It is shown that an unoriented bond graph may have no unique meaning and that with certain choices of orientation a bond graph may not correspond to any lumped parameter system constructed from the same set of elements. Network interpretations of these two facts are given. Defining a bond graph as an oriented object leads to the consideration of equivalence classes of oriented bond graphs which represent the same system. It is also shown that only changes in the orientation of bonds connecting 0-junctions and 1-junctions can lead to changes in the observable properties of a bond graph model.

scholarly journals Estimation of Control Rod Worth in a VVER-1000 Reactor using DRAGON4 and DONJON4

Nukleonika ◽  
2014 ◽  
Vol 59 (2) ◽  
pp. 67-72 ◽  
Author(s):  
Farahnaz Saadatian-derakhshandeh ◽  
Omid Safarzadeh ◽  
Amir Saiid Shirani
Keyword(s):  
Control Systems ◽  
Systems Design ◽  
Reactor Physics ◽  
Control Rod ◽  
Research Reactors ◽  
Best Estimate ◽  
Hazard Control ◽  
Control Systems Design ◽  
And Control ◽  
Good Agreement

Abstract One of the main issues in safety and control systems design of power and research reactors is to prevent accidents or reduce the imposed hazard. Control rod worth plays an important role in safety and control of reactors. In this paper, we developed a justifiable approach called D4D4 to estimate the control rod worth of a VVER-1000 reactor that enables to perform the best estimate analysis and reduce the conservatism that utilize DRAGON4 and DONJON4. The results are compared with WIMS-D4/CITATION to show the effectiveness and superiority of the developed package in predicting reactivity worth of the rod and also other reactor physics parameters of the VVER-1000 reactor. The results of this study are in good agreement with the plant's FSAR.

A Distributed Parameter Pseudo Bond Graph for Heat Conduction Modelling: Notion of Cellular Bond Graph

2003 ◽  
Author(s):  
Aziz Nakrachi ◽  
Genevieve Dauphin-Tanguy
Keyword(s):  
Heat Conduction ◽  
Heat Flow ◽  
Finite Difference ◽  
Heat Conduction Equation ◽  
Graph Model ◽  
Bond Graph ◽  
Distributed Parameter ◽  
Heat Flow Rate ◽  
Finite Volume Schemes ◽  
Bond Graphs

The paper presents a new procedure for building a pseudo bond graph model representing 1D and 2D heat conduction phenomena, in their distributed parameter form. The heat conduction equation is written in such a way that conjugate variables, temperature T(t,x,y) and heat flow rate Q⃗˙(t,x,y), and their space derivatives appear explicitly in the equation. New conjugations between variables are introduced as (T,div(Q⃗˙)) and (gradT,Q⃗˙). We define new bond graph elements named “distributed C- and R-elements”, and we build a “Distributed Parameter Bond Graph” (DPBG), with a form slightly different from the classical one. The approximation of the space derivatives leads to submodels we call “cellular bond graphs”, new notion which could be compared to the cellular automata. Moreover, we show how this representation enables to easily build classical finite difference or finite volume schemes.

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