Control of ATRIAS in three dimensions: Walking as a forced-oscillation problem

2020 ◽  
Vol 39 (7) ◽  
pp. 774-796
Author(s):  
Siavash Rezazadeh ◽  
Jonathan W Hurst
Keyword(s):  
Feedback Linearization ◽  
High Speed ◽  
Forced Oscillation ◽  
Vertical Motion ◽  
Three Dimensions ◽  
Singular Perturbation Theory ◽  
Foot Placement ◽  
Uneven Terrain ◽  
Walking Control ◽  
The Stability

In this article, we present a new controller for stable and robust walking control of ATRIAS, an underactuated bipedal robot designed based on the spring-loaded inverted pendulum (SLIP) model. We propose a forced-oscillation scheme for control of vertical motion, which we prove to be stable and contractive. Moreover, we prove that, through some mild assumptions, the dynamics of the system can be written in a hierarchical form that decouples the stability analyses of the horizontal and vertical directions. We leverage these properties to find a stabilizing class of functions for foot placement. The torso control is also proved to be decoupled using singular perturbation theory and is stabilized through a feedback linearization controller. We also take advantage of the proposed framework’s flexibility and extend it to include a new reflex-based uneven-terrain walking control scheme. We test the controller for various desired walking speeds (0 to 2.5 m/s), for stepping up and down unexpected obstacles (15 cm), and for high-speed walking on a random uneven terrain (up to 10 cm of step-ups and step-downs and up to 1.8 m/s). The results show successful performance of the controller and its stability and robustness against various perturbations.

Five-Dimensional Microscopy using Widefield-Deconvolution: Practical Considerations and Biological Applications

1996 ◽  
Vol 54 ◽  
pp. 268-269
Author(s):  
W.F. Marshall ◽  
K. Oegema ◽  
J. Nunnari ◽  
A.F. Straight ◽  
D.A. Agard ◽  
...  
Keyword(s):  
Confocal Microscopy ◽  
High Speed ◽  
Laser Scanning ◽  
Ccd Camera ◽  
Image Plane ◽  
Time Lapse ◽  
Laser Scanning Confocal Microscopy ◽  
Three Dimensions ◽  
Excitation Light ◽  
Cooled Ccd

The ability to image cells in three dimensions has brought about a revolution in biological microscopy, enabling many questions to be asked which would be inaccessible without this capability. There are currently two major methods of three dimensional microscopy: laser-scanning confocal microscopy and widefield-deconvolution microscopy. The method of widefield-deconvolution uses a cooled CCD to acquire images from a standard widefield microscope, and then computationally removes out of focus blur. Using such a scheme, it is easy to acquire time-lapse 3D images of living cells without killing them, and to do so for multiple wavelengths (using computer-controlled filter wheels). Thus, it is now not only feasible, but routine, to perform five dimensional microscopy (three spatial dimensions, plus time, plus wavelength).Widefield-deconvolution has several advantages over confocal microscopy. The two main advantages are high speed of acquisition (because there is no scanning, a single optical section is acquired at a time by using a cooled CCD camera) and the use of low excitation light levels Excitation intensity can be much lower than in a confocal microscope for three reasons: 1) longer exposures can be taken since the entire 512x512 image plane is acquired in parallel, so that dwell time is not an issue, 2) the higher quantum efficiently of a CCD detect over those typically used in confocal microscopy (although this is expected to change due to advances in confocal detector technology), and 3) because no pinhole is used to reject light, a much larger fraction of the emitted light is collected. Thus we can typically acquire images with thousands of photons per pixel using a mercury lamp, instead of a laser, for illumination. The use of low excitation light is critical for living samples, and also reduces bleaching. The high speed of widefield microscopy is also essential for time-lapse 3D microscopy, since one must acquire images quickly enough to resolve interesting events.

A Statistical Study of Process Variables to Optimize a High Speed Curtain Coater: Part I

TAPPI Journal ◽  
2009 ◽  
Vol 8 (1) ◽  
pp. 20-26 ◽  
Author(s):  
PEEYUSH TRIPATHI ◽  
MARGARET JOYCE ◽  
PAUL D. FLEMING ◽  
MASAHIRO SUGIHARA
Keyword(s):  
Boundary Layer ◽  
Experimental Design ◽  
High Speed ◽  
Statistical Study ◽  
Process Variables ◽  
High Speeds ◽  
The Stability ◽  
Air Removal ◽  
Removal System

Using an experimental design approach, researchers altered process parameters and material prop-erties to stabilize the curtain of a pilot curtain coater at high speeds. Part I of this paper identifies the four significant variables that influence curtain stability. The boundary layer air removal system was critical to the stability of the curtain and base sheet roughness was found to be very important. A shear thinning coating rheology and higher curtain heights improved the curtain stability at high speeds. The sizing of the base sheet affected coverage and cur-tain stability because of its effect on base sheet wettability. The role of surfactant was inconclusive. Part II of this paper will report on further optimization of curtain stability with these four variables using a D-optimal partial-facto-rial design.

LANDSLIDE RISK MANAGEMENT IN THE COASTAL ZONE OF THE KUIBYSHEV RESERVOIR DUE THE DESIGN OF HIGH-SPEED LINE "MOSCOW-KAZAN"

2017 ◽  
Author(s):  
Nikolai Petrov ◽  
Nikolai Petrov ◽  
Inna Nikonorova ◽  
Inna Nikonorova ◽  
Vladimir Mashin ◽  
...  
Keyword(s):  
High Speed ◽  
Computational Models ◽  
Stable State ◽  
Landslide Risk ◽  
Kuibyshev Reservoir ◽  
Stepped Surface ◽  
The Stability ◽  
Landslide Slope ◽  
The Village

High-speed railway "Moscow-Kazan" by the draft crosses the Volga (Kuibyshev reservoir) in Chuvashia region 500 m below the village of New Kushnikovo. The crossing plot is a right-bank landslide slope with a stepped surface. Its height is 80 m; the slope steepness -15-16o. The authors should assess the risk of landslides and recommend anti-landslide measures to ensure the safety of the future bridge. For this landslide factors have been analyzed, slope stability assessment has been performed and recommendations have been suggested. The role of the following factors have been analyzed: 1) hydrologic - erosion and abrasion reservoir and runoff role; 2) lithologyc (the presence of Urzhum and Northern Dvina horizons of plastically deformable rocks, displacement areas); 3) hydrogeological (the role of perched, ground and interstratal water); 4) geomorphological (presence of the elemental composition of sliding systems and their structure in the relief); 5) exogeodynamic (cycles and stages of landslide systems development, mechanisms and relationship between landslide tiers of different generations and blocks contained in tiers). As a result 6-7 computational models at each of the three engineering-geological sections were made. The stability was evaluated by the method “of the leaning slope”. It is proved that the slope is in a very stable state and requires the following measures: 1) unloading (truncation) of active heads blocks of landslide tiers) and the edge of the plateau, 2) regulation of the surface and groundwater flow, 3) concrete dam, if necessary.

Dynamic Performance of High-Speed Electric Multiple Unit within Multi-Body System Simulation

2019 ◽  
Vol 12 (4) ◽  
pp. 339-349
Author(s):  
Junguo Wang ◽  
Daoping Gong ◽  
Rui Sun ◽  
Yongxiang Zhao
Keyword(s):  
High Speed ◽  
Rapid Development ◽  
Dynamic Performance ◽  
Body System ◽  
High Speed Railway ◽  
Evaluation Indexes ◽  
Actual Operation ◽  
Multiple Unit ◽  
The Stability ◽  
Multi Body

Background: With the rapid development of the high-speed railway, the dynamic performance such as running stability and safety of the high-speed train is increasingly important. This paper focuses on the dynamic performance of high-speed Electric Multiple Unit (EMU), especially the dynamic characteristics of the bogie frame and car body. Various patents have been discussed in this article. Objective: To develop the Multi-Body System (MBS) model of EMU, verify whether the dynamic performance meets the actual operation requirements, and provide some useful information for dynamics and structural design of the proposed EMU. Methods: According to the technical characteristics of a typical EMU, a MBS model is established via SIMPACK, and the measured data of China high-speed railway is taken as the excitation of track random irregularity. To test the dynamic performance of the EMU, including the stability and safety, some evaluation indexes such as wheel-axle lateral forces, wheel-axle lateral vertical forces, derailment coefficients and wheel unloading rates are also calculated and analyzed in detail. Results: The MBS model of EMU has better dynamic performance especially curving performance, and some evaluation indexes of the stability and safety have also reached China’s high-speed railway standards. Conclusion: The effectiveness of the proposed MBS model is verified, and the dynamic performance of the MBS model can meet the design requirements of high-speed EMU.

scholarly journals Influence of Whey Protein Micro-Gel Particles and Whey Protein Micro-Gel Particles-Xanthan Gum Complexes on the Stability of O/W Emulsions

Polymers ◽  
2021 ◽  
Vol 13 (14) ◽  
pp. 2301
Author(s):  
Man Zhang ◽  
Bin Liang ◽  
Hongjun He ◽  
Changjian Ji ◽  
Tingting Cui ◽  
...  
Keyword(s):  
Oxidative Stability ◽  
Whey Protein ◽  
High Speed ◽  
Xanthan Gum ◽  
Physical Stability ◽  
Theoretical Support ◽  
Gel Particles ◽  
Oil In Water ◽  
The Stability ◽  
The Impact

Appropriate pretreatment of proteins and addition of xanthan gum (XG) has the potential to improve the stability of oil-in-water (O/W) emulsions. However, the factors that regulate the enhancement and the mechanism are still not clear, which restricts the realization of improving the emulsion stability by directional design of its structure. Therefore, the effects of whey protein micro-gel particles (WPMPs) and WPMPs-XG complexes on the stability of O/W emulsion were investigated in this article to provide theoretical support. WPMPs with different structures were prepared by pretreatment (controlled high-speed shear treatment of heat-set WPC gels) at pH 3.5–8.5. The impact of initial WPC structure and XG addition on Turbiscan Indexes, mean droplet size and the peroxide values of O/W emulsions was investigated. The results indicate that WPMPs and XG can respectively inhibit droplet coalescence and gravitational separation to improve the physical stability of WPC-stabilized O/W emulsions. The pretreatment significantly enhanced the oxidative stability of WPC-stabilized O/W emulsions. The addition of XG did not necessarily enhance the oxidative stability of O/W emulsions. Whether the oxidative stability of the O/W emulsion with XG is increased or decreased depends on the interface structure of the protein-XG complex. This study has significant implications for the development of novel structures containing lipid phases that are susceptible to oxidation.

scholarly journals High-Speed Video Analysis of the Process Stability in Plasma Spraying

2021 ◽  
Author(s):  
K. Bobzin ◽  
M. Öte ◽  
M. A. Knoch ◽  
I. Alkhasli ◽  
H. Heinemann
Keyword(s):  
Plasma Spraying ◽  
High Speed ◽  
Plasma Jet ◽  
Plasma Jets ◽  
Time Dependent ◽  
Acquisition Time ◽  
Fast Fourier Transformation ◽  
Frequency Spectra ◽  
Dependent Signal ◽  
The Stability

AbstractIn plasma spraying, instabilities and fluctuations of the plasma jet have a significant influence on the particle in-flight temperatures and velocities, thus affecting the coating properties. This work introduces a new method to analyze the stability of plasma jets using high-speed videography. An approach is presented, which digitally examines the images to determine the size of the plasma jet core. By correlating this jet size with the acquisition time, a time-dependent signal of the plasma jet size is generated. In order to evaluate the stability of the plasma jet, this signal is analyzed by calculating its coefficient of variation cv. The method is validated by measuring the known difference in stability between a single-cathode and a cascaded multi-cathode plasma generator. For this purpose, a design of experiment, covering a variety of parameters, is conducted. To identify the cause of the plasma jet fluctuations, the frequency spectra are obtained and subsequently interpreted by means of the fast Fourier transformation. To quantify the significance of the fluctuations on the particle in-flight properties, a new single numerical parameter is introduced. This parameter is based on the fraction of the time-dependent signal of the plasma jet in the relevant frequency range.

scholarly journals Evolution of a narrow-band spectrum of random surface gravity waves

2003 ◽  
Vol 478 ◽  
pp. 1-10 ◽  
Author(s):  
KRISTIAN B. DYSTHE ◽  
KARSTEN TRULSEN ◽  
HARALD E. KROGSTAD ◽  
HERVÉ SOCQUET-JUGLARD
Keyword(s):  
Three Dimensional ◽  
Low Frequency ◽  
Three Dimensions ◽  
Band Spectrum ◽  
Nls Equation ◽  
Random Surface ◽  
Narrow Bandwidth ◽  
Quasi Stationary State ◽  
The Stability ◽  
Three Dimensional Simulations

Numerical simulations of the evolution of gravity wave spectra of fairly narrow bandwidth have been performed both for two and three dimensions. Simulations using the nonlinear Schrödinger (NLS) equation approximately verify the stability criteria of Alber (1978) in the two-dimensional but not in the three-dimensional case. Using a modified NLS equation (Trulsen et al. 2000) the spectra ‘relax’ towards a quasi-stationary state on a timescale (ε2ω0)−1. In this state the low-frequency face is steepened and the spectral peak is downshifted. The three-dimensional simulations show a power-law behaviour ω−4 on the high-frequency side of the (angularly integrated) spectrum.

Stability of Milling Operations With Asymmetric Cutter Dynamics in Rotating Coordinates

2016 ◽  
Vol 138 (8) ◽  
Author(s):  
Alptunc Comak ◽  
Orkun Ozsahin ◽  
Yusuf Altintas
Keyword(s):  
Time Domain ◽  
Machine Tools ◽  
High Speed ◽  
End Mill ◽  
Spindle Shaft ◽  
Milling Operations ◽  
Stability Model ◽  
Principal Directions ◽  
The Stability ◽  
Rotating Coordinates

High-speed machine tools have parts with both stationary and rotating dynamics. While spindle housing, column, and table have stationary dynamics, rotating parts may have both symmetric (i.e., spindle shaft and tool holder) and asymmetric dynamics (i.e., two-fluted end mill) due to uneven geometry in two principal directions. This paper presents a stability model of dynamic milling operations with combined stationary and rotating dynamics. The stationary modes are superposed to two orthogonal directions in rotating frame by considering the time- and speed-dependent, periodic dynamic milling system. The stability of the system is solved in both frequency and semidiscrete time domain. It is shown that the stability pockets differ significantly when the rotating dynamics of the asymmetric tools are considered. The proposed stability model has been experimentally validated in high-speed milling of an aluminum alloy with a two-fluted, asymmetric helical end mill.

Transition of streamwise streaks in zero-pressure-gradient boundary layers

2002 ◽  
Vol 472 ◽  
pp. 229-261 ◽  
Author(s):  
LUCA BRANDT ◽  
DAN S. HENNINGSON
Keyword(s):  
Boundary Layer ◽  
Pressure Gradient ◽  
High Speed ◽  
Plate Boundary ◽  
Transition Process ◽  
Free Stream Turbulence ◽  
Tollmien Schlichting ◽  
Streamwise Streaks ◽  
The Stability ◽  
Optimal Disturbances

A transition scenario initiated by streamwise low- and high-speed streaks in a flat-plate boundary layer is studied. In many shear flows, the perturbations that show the highest potential for transient energy amplification consist of streamwise-aligned vortices. Due to the lift-up mechanism these optimal disturbances lead to elongated streamwise streaks downstream, with significant spanwise modulation. In a previous investigation (Andersson et al. 2001), the stability of these streaks in a zero-pressure-gradient boundary layer was studied by means of Floquet theory and numerical simulations. The sinuous instability mode was found to be the most dangerous disturbance. We present here the first simulation of the breakdown to turbulence originating from the sinuous instability of streamwise streaks. The main structures observed during the transition process consist of elongated quasi-streamwise vortices located on the flanks of the low-speed streak. Vortices of alternating sign are overlapping in the streamwise direction in a staggered pattern. The present scenario is compared with transition initiated by Tollmien–Schlichting waves and their secondary instability and by-pass transition initiated by a pair of oblique waves. The relevance of this scenario to transition induced by free-stream turbulence is also discussed.

The Study of Thermal Raising and Transmission Torque of High Speed Ball-Screw Lubricated by Different Greases

2015 ◽  
Vol 642 ◽  
pp. 212-216
Author(s):  
Yi Haung ◽  
Chin Chung Wei
Keyword(s):  
Contact Area ◽  
Axial Load ◽  
High Speed ◽  
Performance Test ◽  
Vertical Motion ◽  
High Viscosity ◽  
Ball Screw ◽  
Frictional Heat ◽  
Motion Platform ◽  
Base Oil

Ball screw is a high-precision and high performance linear drive of mechanical elements. The frictional heat of internal components what is very significant impact for platform transmission in high speed and the high axial load and causes the thermal expansion of element. In this research , the influence of different greases on ball screw is investigated in thermal rising of nut and driving torque in high speed and high axial load. A vertical motion platform was used for driving performance test. Thermal rising of nut of ball screw and the variance of transmission torque whose lubricated by high viscosity base oil grease is significant larger than the lower one. High viscosity grease is not easy to carry out the friction heat generated at ball and raceway contact area due to the bad flowing properties. It also has more serious wear occurred at contact area and high friction force, whose causes the large variance of transmission torque.

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