scholarly journals Analysis and experimental research on motion stability of wall-climbing robot with double propellers

2021 ◽  
Vol 13 (9) ◽  
pp. 168781402110477
Author(s):  
Peng Liang ◽  
Xueshan Gao ◽  
Qingfang Zhang ◽  
Mingkang Li ◽  
Rui Gao ◽  
...  
Keyword(s):  
Power System ◽  
Structural Parameters ◽  
Smooth Transition ◽  
Wall Surface ◽  
Climbing Robot ◽  
Power Test ◽  
Inclination Angles ◽  
Motion Performance ◽  
The Stability ◽  
Reverse Thrust

This paper presents a wall-climbing robot which can stably hold and move on the ground-wall surface. The robot uses propeller reverse thrust as an adsorption force and can adapt to the surface of several media materials. The influence of the robot’s structural parameters on its power system is analyzed by comparing a single power system test and a robot prototype power test. A structural analysis of the robot is performed under two specific situations; when he is in transition from the ground to a small slope, and when he is on the slope. The force state of the robot is then obtained in different conditions. Experimental results show that the adjustment range of different rotor inclination angles of the robot, the width of the fixed rotor plate and the different near-ground distances, affect the traction of the robot. The robot motion performance and adaptability under different ground/wall environments are analyzed, by conducting the robot climbing experiment under a small slope, a vertical wooden wall surface and a vertical indoor wall surface. Stable adsorption and optimization tests are also performed. Moreover, the stability of the robot’s motion is verified. Finally, a theoretical and experimental accumulation is laid for the realization of the smooth transition of the robot from the ground to the wall.

scholarly journals Design and Stability Analysis of a Wall-Climbing Robot Using Propulsive Force of Propeller

Symmetry ◽  
2020 ◽  
Vol 13 (1) ◽  
pp. 37
Author(s):  
Peng Liang ◽  
Xueshan Gao ◽  
Qingfang Zhang ◽  
Rui Gao ◽  
Mingkang Li ◽  
...  
Keyword(s):  
Driving Force ◽  
Front Wheel ◽  
Dynamic Adsorption ◽  
Propulsive Force ◽  
Climbing Robot ◽  
Before And After ◽  
Combined Action ◽  
Motion Performance ◽  
Differential Control ◽  
Reverse Thrust

This article introduces a wall-climbing robot that uses the reverse thrust of the propeller as the adsorption force. The robot is symmetrically distributed in structure and the adsorption force is symmetrically distributed before and after so that it can adapt to the surface of a variety of different media materials and achieve stable adsorption and movement of a variety of wall surfaces. The robot mainly uses the reverse thrust of the aircraft propeller as the adsorption force to achieve wall adsorption. The robot relies on four wheels to move forward. The forward power mainly comes from the combined action of the propeller reverse thrust component and the front wheel driving force. During the movement of the robot, the steering is realized by the front wheel differential control. In this paper, we design the structure of a dual-propeller dynamic adsorption wall mobile robot, plan the movement process of the robot from the ground to the wall, analyze the stable adsorption conditions of the robot wall, and carry out the robot’s motion performance and adaptability test under different ground/wall environments to verify that the robot is stable and feasible.

Design of a wheeled wall climbing robot based on the performance of bio-inspired dry adhesive material

Robotica ◽  
2021 ◽  
pp. 1-14
Author(s):  
Hongkai Li ◽  
Xianfei Sun ◽  
Zishuo Chen ◽  
Lei Zhang ◽  
Hongchao Wang ◽  
...  
Keyword(s):  
Flat Surface ◽  
Thrust Force ◽  
Adhesion Force ◽  
Structure Design ◽  
Design Parameters ◽  
Climbing Robot ◽  
Adhesive Material ◽  
Ducted Fan ◽  
The Stability ◽  
Belt System

Abstract Inspired by gecko’s adhesive feet, a wheeled wall climbing robot is designed in this paper with the synchronized gears and belt system acting as the wheels by considering both motion efficiency and adhesive capability. Adhesion of wheels is obtained by the bio-inspired adhesive material wrapping on the outer surface of wheels. A ducted fan mounted on the back of the robot supplies thrust force for the adhesive material to generate normal and shear adhesion force whilemoving on vertical surfaces. Experimental verification of robot climbing on vertical flat surface was carried out. The stability and the effect of structure design parameters were analyzed.

Numerical and Experimental Approaches to Investigate the Stability of a Motorcycle Vehicle

2006 ◽  
Author(s):  
Federico Cheli ◽  
Marco Bocciolone ◽  
Marco Pezzola ◽  
Elisabetta Leo
Keyword(s):  
Degrees Of Freedom ◽  
Structural Parameters ◽  
Experimental Tests ◽  
Roll Angle ◽  
Longitudinal Motion ◽  
Reference Trajectory ◽  
Steering Angle ◽  
Steady State Condition ◽  
The Stability ◽  
Linearized Model

The study of motorcycle’s stability is an important task for the passenger’s safety. The range of frequencies involved for the handling stability is lower than 10 Hz. A numerical model was developed to access the stability of a motorcycle vehicle in this frequency range. The stability is analysed using a linearized model around the straight steady state condition. In this condition, the vehicle’s vertical and longitudinal motion are decoupled, hence the model has only four degrees of freedom (steering angle, yaw angle, roll angle and lateral translation), while longitudinal motion is imposed. The stability was studied increasing the longitudinal speed. The input of the model can be either a driver input manoeuvre (roll angle) or a transversal component of road input able to excite the vibration modes. The driver is introduced in the model as a steering torque that allows the vehicle to follow a reference trajectory. To validate the model, experimental tests were done. To excite the vehicle modes, the driver input was not taken into account considering both the danger for the driver and the repeatability of the manoeuvre. Two different vehicle configurations were tested: vehicle 1 is a motorcycle [7] and vehicle 2 is a scooter. Through the use of the validated model, a sensitivity analysis was done changing structural (for example normal trail, steering angle, mass) and non structural parameters (for example longitudinal speed).

New Methodology for the Determination of the Vertical Center of Gravity of In-Service Semisubmersibles: Proposal and Numerical Assessment

2017 ◽  
Vol 139 (4) ◽  
Author(s):  
Ivan N. Porciuncula ◽  
Claudio A. Rodríguez ◽  
Paulo T. T. Esperança
Keyword(s):  
Accurate Determination ◽  
Center Of Gravity ◽  
Practical Implementation ◽  
Numerical Assessment ◽  
Neutral Equilibrium ◽  
Inclination Angles ◽  
Numerical Tools ◽  
The Stability ◽  
Metacentric Height

Along its lifetime, an offshore unit is subjected to several equipment interventions. These modifications may include large conversions in loco that usually are not adequately documented. Hence, the accurate determination of the platform's center of gravity (KG) is not possible. For vessels with low metacentric height (GM), such as semisubmersibles, Classification Societies penalize the platform's KG, inhibiting the installation of new equipment until an accurate measurement of KG is provided, i.e., until an updated inclining test is performed. For an operating semisubmersible, the execution of this type of test is not an alternative because it implies in removing the vessel from its in-service location to sheltered waters. Relatively recently, some methods have been proposed for the estimation of KG for in-service vessels. However, as all of the methods depend on accurate measurements of inclination angles and, eventually, on numerical tools for the simulation of vessel dynamics onboard, they are not straightforward for practical implementation. The objective of the paper is to present a practical methodology for the experimental determination of KG, without the need of accurate measurements of inclinations and/or complex numerical simulations, but based on actual operations that can be performed onboard. Indeed, the proposed methodology relies on the search, identification, and execution of a neutral equilibrium condition where, for instance, KG = KM. The method is exemplified using actual data of a typical semisubmersible. The paper also numerically explores and discusses the stability of the platform under various conditions with unstable initial GM, as well as the effect of mooring and risers.

Reliable Analysis on Fast Valving of Ultra-Supercritical Unit Under Transient Fault Conditions

2017 ◽  
Author(s):  
Yu Cai ◽  
Wei Li ◽  
Bao Zhang ◽  
Wenjian Wu ◽  
Deren Sheng ◽  
...  
Keyword(s):  
Power System ◽  
Steam Turbine ◽  
Dynamic Model ◽  
Transient Stability ◽  
Power Grid ◽  
Load Shedding ◽  
Control Mode ◽  
Normal Operation ◽  
Transient Fault ◽  
The Stability

Fast valving of ultra-supercritical unit has great effects on over-speed prevention, load-shedding control, transient stability analysis of electrical system and other security problems. The purpose of fast valving is to maintain the stability of power system once fault or load shedding of unit occurs in the electric power system. Therefore, it is of great significance to study the reliability of fast valving for ultra-supercritical unit. In this paper, the KU ( short shedding) logic condition of SIEMENS T3000 system is analyzed as the research object of fast valving. The unit can be avoided over speed by monitoring the unit load and fast valving under faulty grid conditions based on the KU control. A series of measures will be taken after KU is triggered, for instance the governing valving will be closed quickly and the DEH (digital electro-hydraulic) control of the steam turbine will be switched to speeding control mode. On the other hand, the unit will return to normal operation if the transient fault of power grid disappears. The key contributions of this thesis include three parts: Firstly, based on the analysis of control characteristics of ultra-supercritical unit and protective logic and triggered conditions of KU function, a novel dynamic model by coupling the fast valving of steam turbine and the transient stability of generator is established by applying the PSCAD software. Then, the dynamic response process of ultra-supercritical unit is simulated and calculated by adopting the coupling dynamic model when KU function is triggered. Also the influence factors and reliability of fast valving are analyzed under transient fault conditions. Finally, two optimized measures by increasing the time delay and the speed of quantitative judgment are put forward to reduce risks and avoid the misoperation of signal distortion which may be caused by the power transmitter under transient fault conditions. The results of this study can not only help to evaluate the reliability of fast valving function scientifically in power grid transient fault, but also guide the technicians to analyze the stability of the power grid.

scholarly journals The assessment of the stability of the corneal structure after LASIK correction of myopia by different optical zone diameters

2016 ◽  
Vol 73 (6) ◽  
pp. 572-576 ◽  
Author(s):  
Milorad Milivojevic ◽  
Vladimir Petrovic ◽  
Miroslav Vukosavljevic ◽  
Ivan Marjanovic ◽  
Mirko Resan
Keyword(s):  
Structural Parameters ◽  
Preoperative Assessment ◽  
Laser In Situ Keratomileusis ◽  
Group I ◽  
Significant Difference ◽  
Optical Zone ◽  
Corneal Structure ◽  
The Stability ◽  
Corneal Thinning

Background/Aim. Enlargement of optical zone (OZ) diameter during laser in situ keratomileusis (LASIK) correction of myopia postoperatively improves the optical outcome, however, it also leads to the increased stroma tissue consumption - progressive corneal thinning. The aim of this investigation was to present the possibility of safe OZ enlargement without impairing the structural stability of the cornea, while obtaining an improved optical outcome with LASIK treatment of shortsightedness. Methods. Preoperative assessment of the cornea structure and prediction of the ablated stroma tissue consumption was conducted in 37 patients (74 eyes) treated for shortsightedness by means of the LASIK method. With the eyes that, according to their cornea structure, had the capacity for OZ diameter enlargement of 0.5 mm, LASIK treatment was performed within the wider OZ diameter of 7.0 mm compared to the standard 6.5 mm. The following two groups were formed, depending on the diameter of the utilized OZ: the group I (the eyes treated with the OZ 6.5 mm, n = 37) and the group II (the eyes treated with the OZ 7.0 mm, n = 37). Results. No significant difference in the observed structural parameters of the cornea was detected between the groups of patients treated with different OZ diameters. The values of all the parameters were significantly bellow the threshold values for the development of postoperative ectasia. Conclusion. Diameter enlargement of the treated OZ, if there is a preoperative cornea capacity for such enlargement, will not impair the postoperative stability of the cornea structure, and will significantly improve the optical outcome.

scholarly journals Optimal Location and Design of TCSC controller For Improvement of Stability

2011 ◽  
pp. 210-215
Author(s):  
Swathi Kommamuri ◽  
P. Sureshbabu
Keyword(s):  
Power System ◽  
Optimization Problem ◽  
Low Frequency ◽  
System Stability ◽  
Simulation Environment ◽  
Swarm Optimization ◽  
Stability Performance ◽  
Low Frequency Oscillations ◽  
Simulation Results ◽  
The Stability

Power system stability improvement by a coordinate Design ofThyristor Controlled Series Compensator (TCSC) controller is addressed in this paper.Particle Swarm Optimization (PSO) technique is employed for optimization of the parameterconstrained nonlinear optimization problem implemented in a simulation environment. The proposed controllers are tested on a weakly connected power system. The non-linear simulation results are presented. The eigenvalue analysis and simulation results show the effectiveness and robustness of proposed controllers to improve the stability performance of power system by efficient damping of low frequency oscillations under various disturbances.

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