A Biomimetic Elastic Cable Driven Quadruped Robot: The RoboCat

2011 ◽  
Author(s):  
Elvedin Kljuno ◽  
J. Jim Zhu ◽  
Robert L. Williams ◽  
Stephen M. Reilly
Keyword(s):  
Kinetic Energy ◽  
Quadruped Robot ◽  
Effective Control ◽  
Kinematics And Dynamics ◽  
Dynamics Analysis ◽  
Bipedal Robots ◽  
Analysis And Design ◽  
And Control ◽  
Ground Impact ◽  
Transfer Potential

State of the art legged robots, such as the Honda’s series of bipedal robots ending in the latest advanced walking robot ASIMO, and the series of bipedal robots of Waseda University including the latest advanced robot WABIAN, employ joint-mount motors, which simplifies the analysis/design and traces the route for an effective control system, but results in legs that are heavy and bulky. Cable-driven robots overcome this shortcoming by allowing the motors to be mounted on or near the torso, thereby reducing the weight and inertia of the legs, resulting in lower overall weight and power consumption. To facilitate analysis and design, typical cable-driven robots use non-stretchable cables, which require at least n+1 motors for an n Degree-of-Freedom (DoF) joint. Therefore, for a robot with N joints, at least N additional motors are needed comparing to joint-mount motor drives. Moreover, the drive train of both joint-mount and cable-driven designs are rigid, which cannot effectively absorb ground impact shocks nor transfer potential energy to kinetic energy and vice versa when the robot is in motion, as biologic animals do. In this paper we present the design and test of a cat-size quadruped robot called RoboCat, which employs stretchable elastic cable-driven joints as inspired by biological quadruped animals. Although it complicates kinematics and dynamics analysis and design, the elastic cables allow n motors to be used for an n-DoF joint, thereby eliminating N motors for a robot with N joints comparing to non-stretchable cables, further realizing the weight and power savings of the cable driven design. Moreover, the elastic cable driven joints not only effectively absorb ground contact shock, but also effectively transfer potential and kinetic energy during walking or running, thereby improving the robot motion performance and energy efficiency. In the paper we will discuss the kinematics and dynamics analysis of elastic cable driven joints, implementation of elastic cable-driven joints on the Ohio University RoboCat, and control.

scholarly journals Research and practice of kinetic energy system risk control technology in tobacco enterprises

2021 ◽  
Vol 237 ◽  
pp. 02019
Author(s):  
Husong Wang ◽  
Zhenyu Ni ◽  
Wei Jin ◽  
Qizhong Huang ◽  
Guihui Xiao ◽  
...  
Keyword(s):  
Kinetic Energy ◽  
Power Distribution ◽  
Prevention And Control ◽  
Integrated Management ◽  
Risk Control ◽  
Energy System ◽  
Air Separation ◽  
Effective Control ◽  
Internal Quality ◽  
And Control

The purpose of this paper is to provide a data-oriented risk prevention and control system for seven major kinetic energy supply systems (power distribution, dust removal, moisture removal and odor removal, air pressure, vacuum, process soft water and sewage station water manufacturing, boiler steam system, air conditioning). The traditional risk control means should be improved through systematic process and information technology, and the risk management of operation control should be gradually transformed from event-driven to data-driven, so as to strengthen the comprehensive warning and prevention and control of operational risks. The management mode of integrated management and control is “clear hierarchy, effective air separation, effective control in place, quick early warning and simple handling”. Water, electricity, gas and steam of the power system are realized as part of the internal quality and process control of the cigarette brand, and all the control is pushed to the power supply terminal.

On modeling and dynamics of a multiple launch rocket system

2021 ◽  
pp. 095441002098224
Author(s):  
Bo Li ◽  
Xiaoting Rui ◽  
Guoping Wang ◽  
Jianshu Zhang ◽  
Qinbo Zhou
Keyword(s):  
Monte Carlo ◽  
Multibody Systems ◽  
Euler Method ◽  
Dynamics Analysis ◽  
Analysis Problem ◽  
Dynamic Design ◽  
Proposed Model ◽  
And Control ◽  
Rocket System ◽  
Complete Process

Dynamics analysis is currently a key technique to fully understand the dynamic characteristics of sophisticated mechanical systems because it is a prerequisite for dynamic design and control studies. In this study, a dynamics analysis problem for a multiple launch rocket system (MLRS) is developed. We particularly focus on the deductions of equations governing the motion of the MLRS without rockets by using a transfer matrix method for multibody systems and the motion of rockets via the Newton–Euler method. By combining the two equations, the differential equations of the MLRS are obtained. The complete process of the rockets’ ignition, movement in the barrels, airborne flight, and landing is numerically simulated via the Monte Carlo stochastic method. An experiment is implemented to validate the proposed model and the corresponding numerical results.

scholarly journals Kinematics and Dynamics Analysis of a 3-DOF Upper-Limb Exoskeleton with an Internally Rotated Elbow Joint

2018 ◽  
Vol 8 (3) ◽  
pp. 464 ◽  
Author(s):  
Xin Wang ◽  
Qiuzhi Song ◽  
Xiaoguang Wang ◽  
Pengzhan Liu
Keyword(s):  
Upper Limb ◽  
Elbow Joint ◽  
Kinematics And Dynamics ◽  
Dynamics Analysis ◽  
Upper Limb Exoskeleton

Survey and control of small mammal populations on two hardwood plantations in southern Ontario

1974 ◽  
Vol 50 (5) ◽  
pp. 181-185 ◽  
Author(s):  
Andrew Radvanyi
Keyword(s):  
Small Mammal ◽  
Late Summer ◽  
Control Measures ◽  
Effective Control ◽  
Southern Ontario ◽  
Live Trapping ◽  
Surrounding Areas ◽  
And Control ◽  
Rodent Populations ◽  
Ingredient Cost

Live trapping and tagging methods were employed to assess small mammal populations within two hardwood plantations in southern Ontario. Excessive girdling damage in past years to young planted trees necessitated an evaluation of rodent populations and development of effective control measures. The application of an anticoagulant rodenticide to oat groats bait broadcast over the study area at an ingredient cost of approximately three dollars per acre virtually wiped out the small mammals. Reinvasion from surrounding areas was, however, fairly rapid, particularly during late summer. Further research on longer term control measures using poisoned bait feeder stations is recommended.

A fast mesoscale quadruped robot using piezocomposite actuators

Robotica ◽  
2012 ◽  
Vol 31 (1) ◽  
pp. 89-98 ◽  
Author(s):  
Thanhtam Ho ◽  
Sangyoon Lee
Keyword(s):  
Quadruped Robot ◽  
Continuous Operation ◽  
Circuit Board ◽  
Small Power ◽  
Creative Idea ◽  
Heading Direction ◽  
Forward Locomotion ◽  
And Control ◽  
Bounding Gait ◽  
Actuation Power

SUMMARYThis paper introduces the design, analysis, and experimental results of a fast mesoscale (12 cm length) quadruped mobile robot that employs unconventional actuators. Four legs of the robot are actuated by two pieces of piezocomposite actuator named LIPCA, which enables the robot to achieve the bounding gait with only one degree of freedom per leg. The forward locomotion is obtained by a creative idea in the design and the speed can be controlled by changing the frequency of actuators. The mechanism of power transfer has been improved in order to use the actuation power more efficiently. Two small RC-servo motors are added to control the locomotion direction. In addition, a small power supply and control circuit is developed that is fit for the robot. Our experiments show that the robot can locomote as fast as about two times its body length per second with the circuit board and a battery installed. The robot is also able to change the heading direction in a controlled way and is capable of continuous operation for 35 min.

Dynamics Analysis and Control of 5 DOF Robot Manipulator

2021 ◽  
Author(s):  
Muhammad Salman ◽  
Hamza Khan ◽  
Saad Jamshed Abbasi ◽  
Min Cheol Lee
Keyword(s):  
Robot Manipulator ◽  
Dynamics Analysis ◽  
And Control

Variation in kinematics and dynamics of the landing flights of pigeons on a novel perch

1998 ◽  
Vol 201 (24) ◽  
pp. 3309-3316 ◽  
Author(s):  
P. R. Green ◽  
P. Cheng
Keyword(s):  
Body Weight ◽  
Kinetic Energy ◽  
Horizontal Velocity ◽  
Maximum Force ◽  
Kinematics And Dynamics ◽  
Video Recordings

Pigeons made 10 flights to a novel perch. Kinematic measurements of these flights were obtained from video recordings, and the forces exerted on the perch on each landing were measured. There was wide variation(20-fold range) in the kinetic energy of the pigeons just before landing,arising almost entirely from variation in horizontal velocity. The maximum force exerted on the perch varied in magnitude from approximately twice to eight times the pigeons' body weight, and in direction from 40 to 90 below the horizontal. In landings with high final kinetic energy, the maximum force exerted on the perch was larger and was applied at a shallower angle than in those with low final kinetic energy. Landing flights with high final kinetic energy showed straighter trajectories and a larger peak deceleration during the last 300 ms of approach flight than those with low final kinetic energy, which had downward-curving trajectories and a more prolonged and steady pattern of deceleration. Mean final kinetic energy was lower in the first two landings made on the perch than in subsequent landings, indicating that pigeons are more likely to adopt a slow,downward-curving approach to a novel perch and a fast, straight approach to a familiar one.

scholarly journals Confirmation and Control of HPPD-Inhibiting Herbicide–Resistant Waterhemp (Amaranthus tuberculatus) in Nebraska

2017 ◽  
Vol 31 (1) ◽  
pp. 67-79 ◽  
Author(s):  
Maxwel C. Oliveira ◽  
Amit J. Jhala ◽  
Todd Gaines ◽  
Suat Irmak ◽  
Keenan Amundsen ◽  
...  
Keyword(s):  
Dose Response ◽  
Field Conditions ◽  
Effective Control ◽  
Herbicide Resistant ◽  
Greenhouse Experiments ◽  
Amaranthus Tuberculatus ◽  
Sites Of Action ◽  
And Control ◽  
Herbicide Programs

Field and greenhouse experiments were conducted in Nebraska to (1) confirm the 4-hydroxyphenylpyruvate dioxygenase (HPPD)-inhibiting resistant-waterhemp biotype (HPPD-RW) by quantifying the resistance levels in dose-response studies, and (2) to evaluate efficacy of PRE-only, POST-only, and PRE followed by POST herbicide programs for control of HPPD-RW in corn. Greenhouse dose-response studies confirmed that the suspected waterhemp biotype in Nebraska has evolved resistance to HPPD-inhibiting herbicides with a 2- to 18-fold resistance depending upon the type of HPPD-inhibiting herbicide being sprayed. Under field conditions, at 56 d after treatment, ≥90% control of the HPPD-RW was achieved with PRE-applied mesotrione/atrazine/S-metolachlor+acetochlor, pyroxasulfone (180 and 270 g ai ha−1), pyroxasulfone/fluthiacet-methyl/atrazine, and pyroxasulfone+saflufenacil+atrazine. Among POST-only herbicide programs, glyphosate, a premix of mesotrione/atrazine tank-mixed with diflufenzopyr/dicamba, or metribuzin, or glufosinate provided ≥92% HPPD-RW control. Herbicide combinations of different effective sites of action in mixtures provided ≥86% HPPD-RW control in PRE followed by POST herbicide programs. It is concluded that the suspected waterhemp biotype is resistant to HPPD-inhibiting herbicides and alternative herbicide programs are available for effective control in corn. The occurrence of HPPD-RW in Nebraska is significant because it limits the effectiveness of HPPD-inhibiting herbicides.

scholarly journals Detection and Control Bacteria Cause Grain Rot Burkholderia glumae on Rice

2019 ◽  
Vol 23 (2) ◽  
pp. 163
Author(s):  
Syahri Syahri ◽  
Renny Utami Somantri ◽  
Priatna Sasmita
Keyword(s):  
Rainfall Intensity ◽  
Effective Control ◽  
Burkholderia Glumae ◽  
Physiological Factors ◽  
Tropical Area ◽  
Resistant Varieties ◽  
Central Production ◽  
Production Areas ◽  
And Control ◽  
Group 1

Burkholderia glumae, before mid-2018, is categorized as plant quarantine pest A2 Group 1 that its existence has been detected in Indonesia. B. glumae  has been known to spread in the central production of rice in Java, Sumatra, Borneo dan Sulawesi. This review aimed to explain the strategies for B. glumae detection through its characteristics and to prevent the divergence  of this bacterium in Indonesia. The previous studies reported that the bacteria could reduce yield up to 75% and caused the decrease  of weight-grain or the increase  of empty grain. The disease intensity is affected by environmental and physiological factors such as warm temperature at nighttime and high rainfall intensity. The optimum temperature for the development of the disease is 30–35°C. Moreover, the pathogen could survive at a temperature of 41°C. The tropical area of 32-36°C are suitable for B. glumae. Recently, the effective control of the disease in the field has not been found yet. Meanwhile, early detection of the disease is not yet determined,  even though  it is necessary  to prevent its spread in rice cultivation in Indonesia. Detection of the disease by Agricultural Quarantine Agency as a frontline is needed to check the entry of the disease carried by the import activities of the seed. Detection in the suspected field by protection institutes through frequent surveillance in central production areas of rice should be considered  as an important task.. The effective techniques to prevent B. glumae are the use of resistant varieties, the practice of seed treatments (using antibacterial, bactericide, heat treatment or plant extract), and  the application of oxolinic acid to the crops.

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