Computer Simulation of the Deformation of Dough-Like Materials in a Parallel Plate Gripper

1996 ◽  
Vol 210 (2) ◽  
pp. 119-126 ◽  
Author(s):  
B S Evans ◽  
P N Brett
Keyword(s):  
Computer Simulation ◽  
Parallel Plate ◽  
Experimental Results ◽  
Computationally Efficient ◽  
Flexible Automation ◽  
Planning And Control ◽  
Careful Control ◽  
And Control ◽  
Automated Handling ◽  
The Way

Flexible automation for the handling of rigid materials has been available for many years, but similar systems are not as yet available for the handling of non-rigid materials such as doughs. The properties of this type of material require careful control of gripping and manipulation forces to prevent the product from deforming out of tolerance during handling. This paper describes a computationally efficient model that has been developed for use in the planning and control of gripping and manipulation strategies for dough-like materials. In addition to describing the model and the way in which it would be used in an automated handling environment, experimental results demonstrating the accuracy of the model in predicting the behaviour of three doughs are presented.

Vibration Control of a Slider Pendulum-Type Loader Arm Driven by a Software-Cam Curve

1989 ◽  
Vol 1 (3) ◽  
pp. 173-178
Author(s):  
Kazuo Yamafuji ◽  
◽  
Tetsuya Komine ◽  
Keyword(s):  
Computer Simulation ◽  
Vibration Control ◽  
Personal Computer ◽  
High Speed ◽  
Experimental Results ◽  
Control Methods ◽  
Residual Vibration ◽  
Swing Angle ◽  
Sine Curve ◽  
And Control

This paper describes the control methods, computer simulation and experimental results on the vibration control of the loader arm which is composed of a horizontal slider and a pendulum-type arm suspended from it. In order to achieve high-speed driving and accurate positioning of the loader arm without residual vibration, one of the software-cam curves, termed the ""modified sine curve,"" was applied to drive the loader. The cam curve was described numerically on a personal computer. Three control methods together with highgain feedback control are proposed, in which the path and velocity of the slider and the swing angle of the arm are controlled according to the prescribed software curves. Experimental results show that driving of the loader with such a software curve and control of it under the limitation of the maximum swing angle of the arm are very effective for rejection of residual vibration and accurate positioning of the loader.

Planning and Control of Aggressive Maneuvers for Perching on Inclined and Vertical Surfaces

2015 ◽  
Author(s):  
Justin Thomas ◽  
Giuseppe Loianno ◽  
Morgan Pope ◽  
Elliot W. Hawkes ◽  
Matthew A. Estrada ◽  
...  
Keyword(s):  
Experimental Results ◽  
Smooth Surfaces ◽  
Micro Aerial Vehicles ◽  
Cutting Power ◽  
Planning And Control ◽  
Aerial Vehicles ◽  
Vertical Glass ◽  
Save Energy ◽  
Glass Surfaces ◽  
And Control

It is important to enable micro aerial vehicles to land and perch on different surfaces to save energy by cutting power to motors and to perform tasks such as persistent surveillance. In many cases, the best available surfaces may be vertical windows, walls, or inclined roof tops. In this paper, we present approaches and algorithms for aggressive maneuvering to enable perching of underactuated quadrotors on surfaces that are not horizontal. We show the design of a custom foot/gripper for perching on smooth surfaces. Then, we present control and planning algorithms for maneuvering to land on specified surfaces while satisfying constraints on actuation and sensing. Experimental results that include successful perching on vertical, glass surfaces validate the proposed techniques.

scholarly journals Stair Climbing Control for 4-DOF Tracked Vehicle Based on Internal Sensors

2017 ◽  
Vol 2017 ◽  
pp. 1-18 ◽  
Author(s):  
Daisuke Endo ◽  
Atsushi Watanabe ◽  
Keiji Nagatani
Keyword(s):  
Degrees Of Freedom ◽  
Control Method ◽  
Search And Rescue ◽  
Experimental Results ◽  
Stair Climbing ◽  
Rough Terrain ◽  
Tracked Vehicle ◽  
Planning And Control ◽  
And Control

In search-and-rescue missions, multi-degrees-of-freedom (DOF) tracked robots that are equipped with subtracks are commonly used. These types of robots have superior locomotion performance on rough terrain. However, in teleoperated missions, the performance of tracked robots depends largely on the operators’ ability to control every subtrack appropriately. Therefore, an autonomous traversal function can significantly help in the teleoperation of such robots. In this paper, we propose a planning and control method for 4-DOF tracked robots climbing up/down known stairs automatically based on internal sensors. Experimental results obtained using mockup stairs verify the effectiveness of the proposed method.

PLANNING TO MEET THE GROWING DEMANDS ON NORTHLANDS WATER RESOURCES

1986 ◽  
pp. 33-42
Author(s):  
D.L. Roke
Keyword(s):  
Industrial Development ◽  
Water Resource Management ◽  
Limited Resources ◽  
Careful Planning ◽  
Management Planning ◽  
Planning And Control ◽  
Sources Of Pollution ◽  
And Control ◽  
Resource Management Planning ◽  
Pastoral Farming

The growth in horticultural and some industrial development in selected areas of Northland has led to a need for more specific and careful planning and control of limited resources in a number of major catchments. The potential irrigation demands for horhculture comprise over 60% of Northland's potential water requirements. By contrast, farm water supply needs are only 11% of these needs. Because of their importance to the Northland economy, and in the legislation these needs are given a high priority in water resource management planning. Land uses, including pastoral farming, require careful operation to reduce diffuse sources of pollution.

Sign in / Sign up

Export Citation Format

Share Document