An Operationally Optimized Seven Link Biped Robot Moving on Slopes

2013 ◽  
Author(s):  
Peiman Naseradinmousavi
Keyword(s):  
Simulated Annealing Algorithm ◽  
Nonlinear Modeling ◽  
Biped Robot ◽  
Gait Pattern ◽  
Critical Parameters ◽  
Modeling Process ◽  
Operational Optimization ◽  
Ankle Joints ◽  
Annealing Algorithm ◽  
The Stability

In this paper, we discuss operational optimization of a seven link biped robot using the well-known “Simulated Annealing” algorithm. Some critical parameters affecting the robot gait pattern are selected to be optimized reducing the total energy used. Nonlinear modeling process we published elsewhere is shown here for completeness. The trajectories of both the hip and ankle joints are used to plan the robot gait on slopes and undoubtedly those parameters would be the target ones for the optimization process. The results we obtained reveal considerable amounts of the energy saved for both the ascending and descending surfaces while keeping the robot stable. The stability criterion we utilized for both the modeling and then optimization is “Zero Moment Point”. A comparative study of human evolutionary gait and the operationally optimized robot is also presented.

STABILITY ANALYSIS AND ROBUST CONTROL OF A PLANAR UNDERACTUATED BIPED ROBOT

2010 ◽  
Vol 07 (04) ◽  
pp. 535-563 ◽  
Author(s):  
REZA DEHGHANI ◽  
ABBAS FATTAH
Keyword(s):  
Stability Analysis ◽  
Robust Control ◽  
Sliding Mode ◽  
Center Of Mass ◽  
Biped Robot ◽  
Gait Pattern ◽  
Research Area ◽  
Parameter Uncertainties ◽  
Stable Gait ◽  
The Stability

Stability analysis is one of the main issues in the research area of biped robots with point feet. This article develops stability analysis and robust control of a planar biped robot with point feet with one degree of underactuation. A stability analysis is presented for the bipedal motion comprising single support and impact phases by using Poincaré map for nonlinear systems. Then, the stability conditions of periodic orbits are derived and stable gait pattern is determined using an optimization process. Thereafter, a robust sliding mode control with a time-invariant feedback is proposed to track stable gait in the presence of parameter uncertainties of the biped. Proposed approach is carried out for two types of bipeds, namely, a normal model and a balanced model in which the biped center of mass located at the hip using a novel model. Energy efficiency of biped is investigated for both models. Moreover, the stability of biped motion is studied in the presence of an unexpected stair. Simulation results show the biped motion quickly converges to cyclic motion during the first gait in both models.

Influence of viscosity temperature dependence on the spectral characteristics of the thermoviscous liquids flow stability equation

2019 ◽  
Vol 14 (1) ◽  
pp. 52-58 ◽  
Author(s):  
A.D. Nizamova ◽  
V.N. Kireev ◽  
S.F. Urmancheev
Keyword(s):  
Reynolds Number ◽  
Spectral Characteristics ◽  
Wave Number ◽  
Critical Parameters ◽  
Fluid Viscosity ◽  
Flat Channel ◽  
Stability Equation ◽  
The Stability ◽  
Thermoviscous Fluid ◽  
Sommerfeld Equation

The flow of a viscous model fluid in a flat channel with a non-uniform temperature field is considered. The problem of the stability of a thermoviscous fluid is solved on the basis of the derived generalized Orr-Sommerfeld equation by the spectral decomposition method in Chebyshev polynomials. The effect of taking into account the linear and exponential dependences of the fluid viscosity on temperature on the spectral characteristics of the hydrodynamic stability equation for an incompressible fluid in a flat channel with given different wall temperatures is investigated. Analytically obtained profiles of the flow rate of a thermovisible fluid. The spectral pictures of the eigenvalues of the generalized Orr-Sommerfeld equation are constructed. It is shown that the structure of the spectra largely depends on the properties of the liquid, which are determined by the viscosity functional dependence index. It has been established that for small values of the thermoviscosity parameter the spectrum compares the spectrum for isothermal fluid flow, however, as it increases, the number of eigenvalues and their density increase, that is, there are more points at which the problem has a nontrivial solution. The stability of the flow of a thermoviscous fluid depends on the presence of an eigenvalue with a positive imaginary part among the entire set of eigenvalues found with fixed Reynolds number and wavenumber parameters. It is shown that with a fixed Reynolds number and a wave number with an increase in the thermoviscosity parameter, the flow becomes unstable. The spectral characteristics determine the structure of the eigenfunctions and the critical parameters of the flow of a thermally viscous fluid. The eigenfunctions constructed in the subsequent works show the behavior of transverse-velocity perturbations, their possible growth or decay over time.

Systems with Condensates and Pairing

2018 ◽  
Author(s):  
Klaus Morawetz
Keyword(s):  
Critical Parameters ◽  
Einstein Condensation ◽  
Cooper Pairs ◽  
Pair Breaking ◽  
Systematic Theory ◽  
Bose Einstein Condensation ◽  
T Matrix ◽  
The Stability ◽  
Bose Einstein

The Bose–Einstein condensation and appearance of superfluidity and superconductivity are introduced from basic phenomena. A systematic theory based on the asymmetric expansion of chapter 11 is shown to correct the T-matrix from unphysical multiple-scattering events. The resulting generalised Soven scheme provides the Beliaev equations for Boson’s and the Nambu–Gorkov equations for fermions without the usage of anomalous and non-conserving propagators. This systematic theory allows calculating the fluctuations above and below the critical parameters. Gap equations and Bogoliubov–DeGennes equations are derived from this theory. Interacting Bose systems with finite temperatures are discussed with successively better approximations ranging from Bogoliubov and Popov up to corrected T-matrices. For superconductivity, the asymmetric theory leading to the corrected T-matrix allows for establishing the stability of the condensate and decides correctly about the pair-breaking mechanisms in contrast to conventional approaches. The relation between the correlated density from nonlocal kinetic theory and the density of Cooper pairs is shown.

A New Solution for Maxterm Problem in Trigonometric Functions by Simulated Annealing Algorithm

2013 ◽  
Vol 4 (2) ◽  
pp. 20-28
Author(s):  
Farhad Soleimanian Gharehchopogh ◽  
Hadi Najafi ◽  
Kourosh Farahkhah
Keyword(s):  
Simulated Annealing ◽  
Simulated Annealing Algorithm ◽  
Trigonometric Functions ◽  
Matlab Software ◽  
Annealing Algorithm ◽  
Do So

The present paper is an attempt to get total minimum of trigonometric Functions by Simulated Annealing. To do so the researchers ran Simulated Annealing. Sample trigonometric functions and showed the results through Matlab software. According the Simulated Annealing Solves the problem of getting stuck in a local Maxterm and one can always get the best result through the Algorithm.

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