scholarly journals Establishing the Improved Dynamic Model for the Extracorporeal Ultrasonic Lithotripsy Medical Cooperative Robot

2020 ◽  
Vol 2020 ◽  
pp. 1-10
Author(s):  
Xiao Li ◽  
Maocai Li ◽  
Hanxu Sun ◽  
Jun Gong ◽  
Zhaowen Zhang ◽  
...  
Keyword(s):  
Dynamic Model ◽  
Dynamic Models ◽  
Treatment Method ◽  
Solid Model ◽  
Treatment Needs ◽  
High Incidence ◽  
Ultrasonic Lithotripsy ◽  
Collaborative Robot ◽  
Modified Equation ◽  
Automatic Level

The calculus is one of the common diseases with high incidence. The effective treatment method is extracorporeal ultrasonic lithotripsy. At present, it is low about the intelligent and automatic level of the lithotripter, and it has gradually failed to meet the treatment needs. The extracorporeal ultrasonic lithotripsy medical cooperative robot can solve such problems effectively, and it is equally critical for accurate modeling studies of dynamic models. Based on the previous research and experimental basis, this paper proposes a correction theory to improve the accuracy of the dynamic model for the model error in collaborative robot work. The study first establishes the dynamic model and the solid model of the collaborative robot and then subtracts the value of the dynamic model from the solid model to obtain the modified equation. Finally, the accuracy of the dynamic model is improved by modifying the equation. The experiments show that the kinetic model correction theory is effective and can improve the accuracy of the dynamic model modeling after the correction of the torque equation. The experiments show that the improved dynamic model theory is effective and can improve the modeling accuracy of the dynamic model after the correction of the torque equation. The modified equation has the best correction effect in the 5th degree polynomial and can be used for the extracorporeal ultrasonic lithotripsy medical cooperative robot control.

Research on mechanism configuration and dynamic characteristics for multi-split transmission line mobile robot

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Wei Jiang ◽  
Yating Shi ◽  
Dehua Zou ◽  
Hongwei Zhang ◽  
Hong Jun Li
Keyword(s):  
Mobile Robot ◽  
Transmission Line ◽  
Dynamic Model ◽  
Dynamic Characteristics ◽  
Transmission Lines ◽  
Dynamic Models ◽  
Working Environment ◽  
Joint Torque ◽  
Content Type ◽  
Working Space

Purpose The purpose of this paper is to achieve the optimal system design of a four-wheel mobile robot on transmission line maintenance, as the authors know transmission line mobile robot is a kind of special robot which runs on high-voltage cable to replace or assist manual power maintenance operation. In the process of live working, the manipulator, working end effector and the working environment are located in the narrow space and with heterogeneous shapes, the robot collision-free obstacle avoidance movement is the premise to complete the operation task. In the simultaneous operation, the mechanical properties between the manipulator effector and the operation object are the key to improve the operation reliability. These put forward higher requirements for the mechanical configuration and dynamic characteristics of the robot, and this is the purpose of the manuscript. Design/methodology/approach Based on the above, aiming at the task of tightening the tension clamp for the four-split transmission lines, the paper proposed a four-wheel mobile robot mechanism configuration and its terminal tool which can adapt to the walking and operation on multi-split transmission lines. In the study, the dynamic models of the rigid robot and flexible transmission line are established, respectively, and the dynamic model of rigid-flexible coupling system is established on this basis, the working space and dynamic characteristics of the robot have been simulated in ADAMS and MATLAB. Findings The research results show that the mechanical configuration of this robot can complete the tightening operation of the four-split tension clamp bolts and the motion of robot each joint meets the requirements of driving torque in the operation process, which avoids the operation failure of the robot system caused by the insufficient or excessive driving force of the robot joint torque. Originality/value Finally, the engineering practicability of the mechanical configuration and dynamic model proposed in the paper has been verified by the physical prototype. The originality value of the research is that it has double important theoretical significance and practical application value for the optimization of mechanical structure parameters and electrical control parameters of transmission line mobile robots.

Force-based delay compensation for hardware-in-the-loop simulation divergence of 6-DOF space contact

2017 ◽  
Vol 233 (1) ◽  
pp. 151-165
Author(s):  
Qian Wang ◽  
Chenkun Qi ◽  
Feng Gao ◽  
Xianchao Zhao ◽  
Anye Ren ◽  
...  
Keyword(s):  
Dynamic Model ◽  
Dynamic Models ◽  
Contact Process ◽  
Three Dimensional ◽  
Compensation Method ◽  
Degree Of Freedom ◽  
Hardware In The Loop ◽  
Delay Compensation ◽  
Measurement Delay ◽  
Six Degree Of Freedom

The contact process of a space docking device needs verification before launching. The verification cannot only rely on the software simulation since the contact dynamic models are not accurate enough yet, especially when the geometric shape of the device is complex. Hardware-in-the-loop simulation is a choice to perform the ground test, where the contact dynamic model is replaced by a real device and the real contact occurs. However, the Hardware-in-the-loop simulation suffers from energy increase and instability since time delay is unavoidable. The existing delay compensation methods are mainly focused on a uniaxial or three-dimensional contact. In this paper, a force-based delay compensation method is proposed for the hardware-in-the-loop simulation of a six degree-of-freedom space contact. A six degree-of-freedom dynamic model of the spacecraft motion is derived, and a six degree-of-freedom delay compensation method is proposed. The delay is divided into track delay and measurement delay, which are compensated individually. Experiment results show that the proposed delay compensation method is effective for the six degree-of-freedom space contact.

Development of a reduced dynamic model for comfort evaluation of rail vehicle systems

2016 ◽  
Vol 230 (4) ◽  
pp. 489-504 ◽  
Author(s):  
Mortadha Graa ◽  
Mohamed Nejlaoui ◽  
Ajmi Houidi ◽  
Zouhaier Affi ◽  
Lotfi Romdhane
Keyword(s):  
Dynamic Model ◽  
Degrees Of Freedom ◽  
Dynamic Models ◽  
Railway Vehicle ◽  
Passenger Comfort ◽  
Rail Vehicle ◽  
Vehicle System ◽  
Comfort Evaluation ◽  
Complex Models ◽  
Reduced Dynamic

In this paper, an analytical reduced dynamic model of a rail vehicle system is developed. This model considers only 38 degrees of freedom of the rail vehicle system. This reduced model can predict the dynamic behaviour of the rail vehicle while being simpler than existing dynamic models. The developed model is validated using experimental results found in the bibliography and its results are compared with existing more complex models from the literature. The developed model is used for the passenger comfort evaluation, which is based on the value of the weighted root mean square acceleration according to the ISO 2631 standard. Several parameters of the system, i.e., passenger position, loading of the railway vehicle and its speed, and their effect on the passenger comfort are investigated. It was shown that the level of comfort is mostly affected by the speed of the railway vehicle and the position of the seat. The load, however, did not have a significant effect on the level of comfort of the passenger.

scholarly journals MODELO CUASI-DINÁMICO EN AIMSUN. COMPARATIVA CONTRA MODELOS ESTÁTICOS Y DINÁMICOS

2016 ◽  
Author(s):  
Jordi Casas
Keyword(s):  
Travel Time ◽  
Dynamic Model ◽  
Dynamic Models ◽  
Time Estimation ◽  
Real Data ◽  
Travel Time Estimation ◽  
Traffic Demand ◽  
Mesoscopic Models ◽  
Demand Models ◽  
Main Criticism

Traditionally traffic demand models require as input the impedance of a demand with respect to the network supply; mode choice or departure choice for example, take into account the travel time for each option. Bearing this in mind, the main criticism of using static models to evaluate travel times is that the estimated travel time could diverge considerably because these models have no capacity constraints. On the other hand, dynamic models, such as mesoscopic models, have a level of detail that is sometimes unnecessarily high for the final requirements. The Quasi-dynamic model developed in Aimsun could contribute to a more realistic estimate of the travel time while avoiding the need for a full dynamic model. This paper presents the integration of a Quasi-dynamic model inside the integrated framework of Aimsun and evaluates a comparison of all models in terms of travel time estimation. The evaluation is performed using real networks validated with real data sets.DOI: http://dx.doi.org/10.4995/CIT2016.2016.4127

scholarly journals Computational Modeling: Human Dynamic Model

2021 ◽  
Vol 15 ◽  
Author(s):  
Lijia Liu ◽  
Joseph L. Cooper ◽  
Dana H. Ballard
Keyword(s):  
Dynamic Model ◽  
Degrees Of Freedom ◽  
Dynamic Models ◽  
Movement Analysis ◽  
Human Movement ◽  
Uncontrolled Manifold ◽  
Human In The Loop ◽  
Joint Forces ◽  
Internal Joint ◽  
Movement Function

Improvements in quantitative measurements of human physical activity are proving extraordinarily useful for studying the underlying musculoskeletal system. Dynamic models of human movement support clinical efforts to analyze, rehabilitate injuries. They are also used in biomechanics to understand and diagnose motor pathologies, find new motor strategies that decrease the risk of injury, and predict potential problems from a particular procedure. In addition, they provide valuable constraints for understanding neural circuits. This paper describes a physics-based movement analysis method for analyzing and simulating bipedal humanoid movements. The model includes the major body segments and joints to report human movements' energetic components. Its 48 degrees of freedom strike a balance between very detailed models that include muscle models and straightforward two-dimensional models. It has sufficient accuracy to analyze and synthesize movements captured in real-time interactive applications, such as psychophysics experiments using virtual reality or human-in-the-loop teleoperation of a simulated robotic system. The dynamic model is fast and robust while still providing results sufficiently accurate to be used to animate a humanoid character. It can also estimate internal joint forces used during a movement to create effort-contingent stimuli and support controlled experiments to measure the dynamics generating human behaviors systematically. The paper describes the innovative features that allow the model to integrate its dynamic equations accurately and illustrates its performance and accuracy with demonstrations. The model has a two-foot stance ability, capable of generating results comparable with an experiment done with subjects, and illustrates the uncontrolled manifold concept. Additionally, the model's facility to capture large energetic databases opens new possibilities for theorizing as to human movement function. The model is freely available.

scholarly journals OPTIMAL AIRLINE SEAT INVENTORY CONTROL FOR MULTI‐LEG FLIGHTS

Aviation ◽  
2004 ◽  
Vol 8 (4) ◽  
pp. 10-15
Author(s):  
Edgars K. Vasermanis ◽  
Nicholas A. Nechval ◽  
Konstantin N. Nechval ◽  
Kristine N. Rozite
Keyword(s):  
Dynamic Model ◽  
Inventory Control ◽  
Dynamic Models ◽  
Difficult Problem ◽  
Seat Allocation ◽  
The Right ◽  
Seat Inventory Control ◽  
Demand And Capacity ◽  
Over Time

Airline seat inventory control is about “selling the right seats to the right people at the right time”. In this paper, the problem of determining optimal booking policy for multiple fare classes in a pool of identical seats for multi‐leg flights is considered. During the time prior to departure of a multi‐leg flight, decisions must be made concerning the allocation of reserved seats to passengers requesting space on the full or partial spans of the flight. It will be noted that in the case of multi‐leg flights the long‐haul passengers are often unable to obtain seats because the shorter‐haul passengers block them. For large commercial airlines, efficiently setting and updating seat allocation targets for each passenger category on each multi‐leg flight is an extremely difficult problem. This paper presents static and dynamic models of airline seat inventory control for multi‐leg flights with multiple fare classes, which allow one to maximize the expected contribution to profit. The dynamic model uses the most recent demand and capacity information and allows one to allocate seats dynamically and anticipatorily over time.

Rotorcraft control response using linearised and non-linear flight dynamic models with different inflow models

2017 ◽  
Vol 121 (1238) ◽  
pp. 553-575 ◽  
Author(s):  
T. Sakthivel ◽  
C. Venkatesan
Keyword(s):  
Dynamic Model ◽  
Dynamic Models ◽  
Model Identification ◽  
Flight Test ◽  
Step Size ◽  
Response Characteristics ◽  
Wide Range ◽  
Non Linear ◽  
Steady Level ◽  
Control Response

ABSTRACTThe aim of the present study is to develop a relatively simple flight dynamic model which should have the ability to analyse trim, stability and response characteristics of a rotorcraft under various manoeuvring conditions. This study further addresses the influence of numerical aspects of perturbation step size in linearised model identification and integration timestep on non-linear model response. In addition, the effects of inflow models on the non-linear response are analysed. A new updated Drees inflow model is proposed in this study and the applicability of this model in rotorcraft flight dynamics is studied. It is noted that the updated Drees inflow model predicts the control response characteristics fairly close to control response characteristics obtained using dynamic inflow for a wide range of flight conditions such as hover, forward flight and recovery from steady level turn. A comparison is shown between flight test data, the control response obtained from the simple flight dynamic model, and the response obtained using a more detailed aeroelastic and flight dynamic model.

A Study on Sensitivity of Maneuverability Performance on the Hydrodynamic Coefficients for Submerged Bodies

2000 ◽  
Vol 44 (03) ◽  
pp. 186-196
Author(s):  
Debabrata Sen
Keyword(s):  
Dynamic Model ◽  
Dynamic Models ◽  
Equations Of Motion ◽  
Inertial Force ◽  
Axisymmetric Body ◽  
Hydrodynamic Coefficients ◽  
Damping Coefficients ◽  
Simulated Trajectory ◽  
Linear Damping

Based on a constant-coefficient dynamic model, a study was made to determine the influence of various hydrodynamic coefficients on the predicted maneuverability quality of submerged bodies. Two types of geometries were considered, a submarine and an axisymmetric slender geometry. For the submarine, the equations of motion used were the revised standard submarine equations (Feldman 1979) while for the latter geometry a dynamic model was developed. From computer simulation of a few selected definitive maneuvers based on these two different dynamic models for the two geometries, the sensitivity of the simulated trajectory on changes in different coefficients was found. The results quantified in form of sensitivity values are presented. It is found that the typical measures from the maneuvers do not depend significantly on most of the nonlinear coefficients. The coefficients having significant effects on the trajectories are found to be the linear damping coefficients for the submarine and the linear inertial force coefficients for the axisymmetric body.

Mathematical Model of Pressure and Flow Distribution on Fluorine Production Lines

2015 ◽  
Vol 1084 ◽  
pp. 678-683
Author(s):  
Oleg P. Savitsky ◽  
Valeriy F. Dyadik ◽  
Oksana P. Kabrysheva
Keyword(s):  
Mathematical Model ◽  
Dynamic Model ◽  
Dynamic Models ◽  
Flow Distribution ◽  
Hydrodynamic Regime ◽  
Technological Scheme ◽  
Control Algorithms ◽  
Production Lines ◽  
Methods Of Synthesis ◽  
Effective Use

This paper is devoted to one of the most urgent problems in the automation of fluorine production (FP) processes: the development of a dynamic model of the hydrodynamic regime. The paper suggests a dynamic model represented in the form that provides the effective use of up-to-date methods of synthesis and analysis for control algorithms. The model is a set of dynamic models of individual units and devices that have a significant impact on the processes in the technological scheme.

Pseudo-rigid-body dynamic modeling and analysis of compliant mechanisms

2017 ◽  
Vol 232 (9) ◽  
pp. 1665-1678 ◽  
Author(s):  
Yue-Qing Yu ◽  
Qian Li ◽  
Qi-Ping Xu
Keyword(s):  
Rigid Body ◽  
Dynamic Model ◽  
Dynamic Modeling ◽  
Dynamic Models ◽  
Compliant Mechanisms ◽  
Lagrange Equation ◽  
Dynamic Responses ◽  
Modeling And Analysis ◽  
Rigid Body Dynamic ◽  
Body Dynamic

An intensive study on the dynamic modeling and analysis of compliant mechanisms is presented in this paper based on the pseudo-rigid-body model. The pseudo-rigid-body dynamic model with single degree-of-freedom is proposed at first and the dynamic equation of the 1R pseudo-rigid-body dynamic model for a flexural beam is presented briefly. The pseudo-rigid-body dynamic models with multi-degrees-of-freedom are then derived in detail. The dynamic equations of the 2R pseudo-rigid-body dynamic model and 3R pseudo-rigid-body dynamic model for the flexural beams are obtained using Lagrange equation. Numerical investigations on the natural frequencies and dynamic responses of the three pseudo-rigid-body dynamic models are made. The effectiveness and superiority of the pseudo-rigid-body dynamic model has been shown by comparing with the finite element analysis method. An example of a compliant parallel-guiding mechanism is presented to investigate the dynamic behavior of the mechanism using the 2R pseudo-rigid-body dynamic model.

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