scholarly journals Nodal position control of bending mode of three- dimensional beam structures based on visualization of eigenmode formation

2018 ◽  
Vol 84 (864) ◽  
pp. 18-00027-18-00027
Author(s):  
Sunao TOMITA ◽  
Sachito NAKANO ◽  
Hideki SUGIURA ◽  
Yuichi MATSUMURA
2018 ◽  
Vol 141 (4) ◽  
Author(s):  
Jian-Wei Ma ◽  
De-Ning Song ◽  
Zhen-Yuan Jia ◽  
Wen-Wen Jiang ◽  
Fu-Ji Wang ◽  
...  

To reduce the contouring errors in computer-numerical-control (CNC) contour-following tasks, the cross-coupling controller (CCC) is widely researched and used. However, most existing CCCs are well-designed for two-axis contouring and can hardly be generalized to compensate three-axis curved contour following errors. This paper proposes an equivalent-plane CCC scheme so that most of the two-axis CCCs or flexibly designed algorithms can be utilized for equal control of the three-axis contouring errors. An initial-value regeneration-based Newton method is first proposed to compute the foot point from the actual motion position to the desired contour with a high accuracy, so as to establish the equivalent plane where the estimated three-dimensional contouring-error vector is included. After that, the signed contouring error is computed in the equivalent plane, thus a typical two-axis proportional-integral-differential (PID)-based CCC is utilized for its control. Finally, the two-axis control commands generated by the typical CCC are coupled to three-axis control commands according to the geometry of the established equivalent plane. Experimental tests are conducted to verify the effectiveness of the presented method. The testing results illustrate that the proposed equivalent-plane CCC performs much better than conventional method in both error estimation and error control.


2001 ◽  
Vol 86 (4) ◽  
pp. 1546-1554 ◽  
Author(s):  
S. Glasauer ◽  
M. Dieterich ◽  
Th. Brandt

To find an explanation of the mechanisms of central positional nystagmus in neurological patients with posterior fossa lesions, we developed a three-dimensional (3-D) mathematical model to simulate head position-dependent changes in eye position control relative to gravity. This required a model implementation of saccadic burst generation, of the neural velocity to eye position integrator, which includes the experimentally demonstrated leakage in the torsional component, and of otolith-dependent neural control of Listing's plane. The validity of the model was first tested by simulating saccadic eye movements in different head positions. Then the model was used to simulate central positional nystagmus in off-vertical head positions. The model simulated lesions of assumed otolith inputs to the burst generator or the neural integrator, both of which resulted in different types of torsional-vertical nystagmus that only occurred during head tilt in roll plane. The model data qualitatively fit clinical observations of central positional nystagmus. Quantitative comparison with patient data were not possible, since no 3-D analyses of eye movements in various head positions have been reported in the literature on patients with positional nystagmus. The present model, prompted by an open clinical question, proposes a new hypothesis about the generation of pathological nystagmus and about neural control of Listing's plane.


2012 ◽  
Vol 198-199 ◽  
pp. 1053-1056
Author(s):  
Liang Han ◽  
Jing Song Jin ◽  
Wei Zhang

Tennis is a very elegant sport, with a strong sense of competitiveness and appreciation, which has gained more and more attentions in our country, and it tends to be a fashion. This project is to achieve the measurement of tennis batting motion attitude in three dimensional space using a combination of the three-axis MEMS(Micro-electromechanical Systems) sensors, and make research on the principle of measurement system, composition and data acquisition. Body posture measurement system is to measure the attitude measurement in human movement, it can be applied to study the movement posture or to meet the requirements of position control, which provides theoretical foundation for scientific training and prevention of sports injury and also plays a significant and instructional role in improving the training levels of tennis playing and generalizing nationwide fitness campaign.


Author(s):  
A. L. Schwab ◽  
J. P. Meijaard

Three formulations for a flexible spatial beam element for dynamic analysis are compared: a Timoshenko beam with large displacements and rotations, a fully parametrized element according to the absolute nodal coordinate formulation (ANCF), and an ANCF element based on an elastic line approach. In the last formulation, the shear locking of the antisymmetric bending mode is avoided by the application of either the two-field Hellinger–Reissner or the three-field Hu–Washizu variational principle. The comparison is made by means of linear static deflection and eigenfrequency analyses on stylized problems. It is shown that the ANCF fully parametrized element yields too large torsional and flexural rigidities, and shear locking effectively suppresses the antisymmetric bending mode. The presented ANCF formulation with the elastic line approach resolves most of these problems.


Author(s):  
Innocent Okoloko ◽  
Yoonsoo Kim

We present a graph theoretic and optimization based method for attitude and position consensus of a team of communicating vehicles navigating in three dimensional space. Coordinated control of such vehicles has applications in planetary scale mobile sensor networks, and multiple vehicle navigation in general. Using the Laplacian matrix of the communication graph, and attitude quaternions, a synthesis of the optimal stochastic matrix that drives the attitudes to consensus, is done, by solving a constrained semidefinite program. This novel methodology attempts to extend quadratically constrained attitude control (Q-CAC), to the consensus framework. The solutions obtained are used to realize coordinated rendezvous, and formation acquisition, in the presence of static and dynamic obstacles.


2015 ◽  
Vol 2015 ◽  
pp. 1-11 ◽  
Author(s):  
Shanshan Du ◽  
Heping Chen ◽  
Yong Liu ◽  
Runting Hu

Currently, a bottleneck problem for battery-powered microflying robots is time of endurance. Inspired by flying animal behavior in nature, an innovative mechanism with active flying and perching in the three-dimensional space was proposed to greatly increase mission life and more importantly execute tasks perching on an object in the stationary way. In prior work, we have developed some prototypes of flying and perching robots. However, when the robots switch between flying and perching, it is a challenging issue to deal with the contact between the robot and environment under the traditional position control without considering the stationary obstacle and external force. Therefore, we propose a unified impedance control approach for bioinspired flying and perching robots to smoothly contact with the environment. The dynamic model of the bioinspired robot is deduced, and the proposed impedance control method is employed to control the contact force and displacement with the environment. Simulations including the top perching and side perching and the preliminary experiments were conducted to validate the proposed method. Both simulation and experimental results validate the feasibility of the proposed control methods for controlling a bioinspired flying and perching robot.


Author(s):  
Andrea Arena ◽  
Walter Lacarbonara ◽  
Matthew P Cartmell

Nonlinear dynamic interactions in harbour quayside cranes due to a two-to-one internal resonance between the lowest bending mode of the deformable boom and the in-plane pendular mode of the container are investigated. To this end, a three-dimensional model of container cranes accounting for the elastic interaction between the crane boom and the container dynamics is proposed. The container is modelled as a three-dimensional rigid body elastically suspended through hoisting cables from the trolley moving along the crane boom modelled as an Euler-Bernoulli beam. The reduced governing equations of motion are obtained through the Euler-Lagrange equations employing the boom kinetic and stored energies, derived via a Galerkin discretisation based on the mode shapes of the two-span crane boom used as trial functions, and the kinetic and stored energies of the rigid body container and the elastic hoisting cables. First, conditions for the onset of internal resonances between the boom and the container are found. A higher order perturbation treatment of the Taylor expanded equations of motion in the neighbourhood of a two-to-one internal resonance between the lowest boom bending mode and the lowest pendular mode of the container is carried out. Continuation of the fixed points of the modulation equations together with stability analysis yields a rich bifurcation behaviour, which features Hopf bifurcations. It is shown that consideration of higher order terms (cubic nonlinearities) beyond the quadratic geometric and inertia nonlinearities breaks the symmetry of the bifurcation equations, shifts the bifurcation points and the stability ranges, and leads to bifurcations not predicted by the low order analysis.


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