scholarly journals Lunar Surface Fault-Tolerant Soft-Landing Performance and Experiment for a Six-Legged Movable Repetitive Lander

Sensors ◽  
2021 ◽  
Vol 21 (17) ◽  
pp. 5680
Author(s):  
Ke Yin ◽  
Songlin Zhou ◽  
Qiao Sun ◽  
Feng Gao
Keyword(s):  
Fault Tolerant ◽  
Stability Margin ◽  
Optimization Method ◽  
Stable Configuration ◽  
Soft Landing ◽  
Ground Testing ◽  
Series Of Experiments ◽  
The Stability ◽  
Exploration Area ◽  
Vertical Landing

The cascading launch and cooperative work of lander and rover are the pivotal methods to achieve lunar zero-distance exploration. The separated design results in a heavy system mass that requires more launching costs and a limited exploration area that is restricted to the vicinity of the immovable lander. To solve this problem, we have designed a six-legged movable repetitive lander, called “HexaMRL”, which congenitally integrates the function of both the lander and rover. However, achieving a buffered landing after a failure of the integrated drive units (IDUs) in the harsh lunar environment is a great challenge. In this paper, we systematically analyze the fault-tolerant capacity of all possible landing configurations in which the number of remaining normal legs is more than two and design the landing algorithm to finish a fault-tolerant soft-landing for the stable configuration. A quasi-incentre stability optimization method is further proposed to increase the stability margin during supporting operations after landing. To verify the fault-tolerant landing performance on the moon, a series of experiments, including five-legged, four-legged and three-legged soft-landings with a vertical landing velocity of −1.9 m/s and a payload of 140 kg, are successfully carried out on a 5-DoF lunar gravity ground-testing platform. The HexaMRL with fault-tolerant landing capacity will greatly promote the development of a next-generation lunar prober.

Synthesis of a High-Precision Missile Homing System with an Permissible Stability Margin of the Normal Acceleration Stabilization System

2021 ◽  
Vol 22 (7) ◽  
pp. 365-373
Author(s):  
Quang Thong Do
Keyword(s):  
High Precision ◽  
Parametric Optimization ◽  
Stability Margin ◽  
Optimization Method ◽  
Synthesis Process ◽  
Stabilization System ◽  
Gain Margin ◽  
The Stability ◽  
Automatic Systems ◽  
Normal Acceleration

The proportional guidance method-based missile homing systems (MHS) have been widely used the real-world environments. In these systems, in order to destroy the targets at different altitudes, a normal acceleration stabilization system (NASS) is often utilized. Therefore, the MHS are complex and the synthesis of these systems are a complex task. However, it is necessary to synthesize NASS during the synthesis of the MHS. To simplify the synthesis process, a linear model of the NASS is used. In addition, we make use of the available commands in Control System Toolbox in MATLAB. Because the Toolbox has the commands to describe the transfer function, determine the stability gain margin, and the values of the transient respond of the linear automatic systems. Thus, this article presents two methods for synthesizing the missile homing systems, including (i) a method for synthesizing the MHS while ensuring the permissible stability gain margin of the NASS, and (ii) a method for synthesizing the MHS while ensuring the permissible stability margin of the NASS by overshoot. These techniques are very easy to implement using MATLAB commands. The synthesis of the proposed MHS is carried out by the parametric optimization method. To validate the performance of the proposed techniques, we compare them withthe MHS synthesized by ensuring the stability margin of the NASS bythe oscillation index. The results show that, two our proposed methods and the existing method provide the same results in terms of high-precision. Nevertheless, the proposed methods are simple and faster than the conventional method. The article also investigates the effect of gravity, longitudinal acceleration of the rocket, andblinding of the homing head on the accuracy of the synthesized MHS. The results illustrate that they have a little effect on its accuracy.

scholarly journals Stability-Guaranteed and High Terrain Adaptability Static Gait for Quadruped Robots

Sensors ◽  
2020 ◽  
Vol 20 (17) ◽  
pp. 4911
Author(s):  
Qian Hao ◽  
Zhaoba Wang ◽  
Junzheng Wang ◽  
Guangrong Chen
Keyword(s):  
Impedance Control ◽  
Stability Margin ◽  
Planning Method ◽  
Legged Robots ◽  
Gait Planning ◽  
Quadruped Locomotion ◽  
Quadruped Robots ◽  
Adjustment Strategy ◽  
Compliant Behavior ◽  
The Stability

Stability is a prerequisite for legged robots to execute tasks and traverse rough terrains. To guarantee the stability of quadruped locomotion and improve the terrain adaptability of quadruped robots, a stability-guaranteed and high terrain adaptability static gait for quadruped robots is addressed. Firstly, three chosen stability-guaranteed static gaits: intermittent gait 1&2 and coordinated gait are investigated. In addition, then the static gait: intermittent gait 1, which is with the biggest stability margin, is chosen to do a further research about quadruped robots walking on rough terrains. Secondly, a position/force based impedance control is employed to achieve a compliant behavior of quadruped robots on rough terrains. Thirdly, an exploratory gait planning method on uneven terrains with touch sensing and an attitude-position adjustment strategy with terrain estimation are proposed to improve the terrain adaptability of quadruped robots. Finally, the proposed methods are validated by simulations.

Study on the characteristics of secondary arc current of UHV high compensation degree TCSC line under the fine-tuning mode

2021 ◽  
Vol 0 (0) ◽  
Author(s):  
Baina He ◽  
Yadi Xie ◽  
Jingru Zhang ◽  
Nirmal-Kumar C. Nair ◽  
Xingmin He ◽  
...  
Keyword(s):  
Transmission Line ◽  
Transmission Lines ◽  
Stability Margin ◽  
Transmission Capacity ◽  
Fine Tuning ◽  
Series Compensation ◽  
Arc Current ◽  
Compensation Device ◽  
The Stability ◽  
Recovery Voltage

Abstract In the transmission line, the series compensation device is often used to improve the transmission capacity. However, when the fixed series capacitor (FSC) is used in high compensation series compensation device, the stability margin cannot meet the requirements. Therefore, thyristor controlled series compensator (TCSC) is often installed in transmission lines to improve the transmission capacity of the line and the stability of the system. For cost considerations, the hybrid compensation mode of FSC and TCSC is often adopted. However, when a single-phase grounding fault occurs in a transmission line with increased series compensation degree, the unreasonable distribution of FSC and TCSC will lead to the excessive amplitude of secondary arc current, which is not conducive to rapid arc extinguishing. To solve this problem, this paper is based on 1000 kV Changzhi-Nanyang-Jingmen UHV series compensation transmission system, using PSCAD simulation program to established UHV series compensation simulation model, The variation law of secondary arc current and recovery voltage during operation in fine tuning mode after adding TCSC to UHV transmission line is analyzed, and the effect of increasing series compensation degree on secondary arc current and recovery voltage characteristics is studied. And analyze the secondary arc current and recovery voltage when using different FSC and TCSC series compensation degree schemes, and get the most reasonable series compensation configuration scheme. The results show that TCSC compensation is more beneficial to arc extinguishing under the same series compensation. Compared with several series compensation schemes, it is found that with the increase of the proportion of TCSC, the amplitude of secondary arc current and recovery voltage vary greatly. Considering various factors, the scheme that is more conducive to accelerating arc extinguishing is chosen.

scholarly journals Optimal profile for concave slopes under static and seismic conditions

2016 ◽  
Vol 53 (9) ◽  
pp. 1522-1532 ◽  
Author(s):  
Farshid Vahedifard ◽  
Shahriar Shahrokhabadi ◽  
Dov Leshchinsky
Keyword(s):  
Limit Equilibrium ◽  
Stable Configuration ◽  
Preliminary Evaluation ◽  
Construction Technology ◽  
Stability Of Slopes ◽  
Optimal Profile ◽  
Stabilized Soil ◽  
The Stability ◽  
Comparison Of The Results ◽  
The Impact

This study presents a methodology to determine the stability and optimal profile for slopes with concave cross section under static and seismic conditions. Concave profiles are observed in some natural slopes suggesting that such geometry is a more stable configuration. In this study, the profile of a concave slope was idealized by a circular arc defined by a single variable, the mid-chord offset (MCO). The proposed concave profile formulation was incorporated into a limit equilibrium–based log spiral slope stability method. Stability charts are presented to show the stability number, MCO, and mode of failure for homogeneous slopes corresponding to the most stable configuration under static and pseudostatic conditions. It is shown that concave profiles can significantly improve the stability of slopes. Under seismic conditions, the impact of concavity is most pronounced. Good agreement was demonstrated upon comparison of the results from the proposed method against those attended from a rigorous upper bound limit analysis. The proposed methodology, along with recent advances in construction technology, can be employed to use concave profiles in trenches, open mine excavations, earth retaining systems, and naturally cemented and stabilized soil slopes. The results presented provide a useful tool for preliminary evaluation for adopting such concave profiles in practice.

ANTIBIOTIC STABILITY IN SOLUTIONS USED FOR INTRAVENOUS NUTRITION AND FLUID THERAPY

PEDIATRICS ◽  
1973 ◽  
Vol 51 (6) ◽  
pp. 1016-1026
Author(s):  
Ralph D. Feigin ◽  
Kanneth S. Moss ◽  
Penelope G. Shackelford
Keyword(s):  
Antimicrobial Activity ◽  
Normal Saline ◽  
Protein Hydrolysate ◽  
Significant Degree ◽  
Significant Loss ◽  
All Solutions ◽  
Ringer’S Lactate ◽  
Series Of Experiments ◽  
The Stability ◽  
Crystalline Amino Acids

The present study was designed to assess the stability of ampicillin, carbenicillin, clindamycin, kanamycin, cephalothin, methicillin, and penicillin in three parenteral hyperalimentation mixtures as reconstituted for delivery to the patient in the clinical setting. Stability at 4C, 25C, and 37C was tested in parenteral hyperalimentation mixtures containing either crystalline amino acids or a protein hydrolysate. In two series of experiments the stability at 4C, 25C, and 37C of ampicillin, cephalothin, and kanamycin also was assessed in Isolyte M (ISO M), Isolyte P (ISO P), Ringer's lactate (LR), 5% dextrose in water, (D5W), 10% dextrose in water (D1OW), dextrose in normal saline (D5S), and normal saline (NS) to which hydrocortisone or heparin had been added. All antibiotics retained their effectiveness at an acceptable level in the hyperalimentation solutions at 4C. At 25C and 37C, all antibiotics except clindamycin lost activity by 24 hours. Kanamycin was least stable in these solutions and ampicillin also lost a significant degree of antimicrobial activity. Addition of heparin or hydrocortisone imparted stability to ampicillin in the seven parenteral solutions although significant loss of activity was noted at 37C in D5W, D1OW, D5S, and LR. Most solutions containing heparin or hydrocortisone and cephalothin turned yellow by 24 hours. A precipitate appeared in solutions containing heparin and kanamycin but there was minimal loss of antimicrobial activity. Kanamycin was stable in all solutions containing hydrocortisone except in D5W and D10W at 37C.

A finite-time H-infinite adaptive fault-tolerant controller considering time delay for flutter suppression of airfoil flutter

2019 ◽  
Vol 234 (2) ◽  
pp. 293-307
Author(s):  
Gao Ming-Zhou ◽  
Chen Xin-Yi ◽  
Han Rong ◽  
Yao Jian-Yong
Keyword(s):  
Finite Time ◽  
Control Method ◽  
Controller Design ◽  
Fault Tolerant ◽  
Linear Matrix ◽  
Control Methods ◽  
Actuator Faults ◽  
Control Delay ◽  
Modeling Uncertainties ◽  
The Stability

To suppress airfoil flutter, a lot of control methods have been proposed, such as classical control methods and optimal control methods. However, these methods did not consider the influence of actuator faults and control delay. This paper proposes a new finite-time H∞ adaptive fault-tolerant flutter controller by radial basis function neural network technology and adaptive fault-tolerant control method, taking into account actuator faults, control delay, modeling uncertainties, and external disturbances. The theoretic section of this paper is about airfoil flutter dynamic modeling and adaptive fault-tolerant controller design. Lyapunov function and linear matrix inequality are employed to prove the stability of the proposed control method of this paper. The numeral simulation section further proves the effectiveness and robustness of the proposed control algorithm of this paper.

scholarly journals Rayleigh-Taylor instability of two superposed magnetized viscous fluids with suspended dust particles

2010 ◽  
Vol 14 (1) ◽  
pp. 11-29 ◽  
Author(s):  
Praveen Sharma ◽  
Ram Prajapati ◽  
Rajendra Chhajlani
Keyword(s):  
Magnetic Field ◽  
Growth Rate ◽  
Dispersion Relation ◽  
Relaxation Frequency ◽  
Taylor Instability ◽  
Dust Particles ◽  
Stable Configuration ◽  
Rayleigh Taylor Instability ◽  
Suspended Dust ◽  
The Stability

The linear Rayleigh-Taylor instability of two superposed incompressible magnetized fluids is investigated incorporating the effects of suspended dust particles and viscosity. The basic magnetohydrodynamic set of equations have been constructed and linearized. The dispersion relation for 2-D and 3-D perturbations is obtained by applying the appropriate boundary conditions. The condition of Rayleigh-Taylor instability is investigated for potentially stable and unstable modes, which depends upon magnetic field, viscosity and suspended dust particles. The stability of the system is discussed by applying the Routh-Hurwitz criterion. It is found that the Alfven mode comes into the dispersion relation for perturbations in x, y-directions and in only x-direction, while it does not come into y-directional perturbation. The stable configuration is found to remain stable even in the presence of suspended dust particles. Numerical calculations have been performed to see the effects of various parameters on the growth rate of Rayleigh-Taylor instability. It is found that magnetic field and relaxation frequency of suspended dust particles both have destabilizing influence on the growth rate of Rayleigh-Taylor instability. The effects of kinematic viscosity and mass concentration of dust particles are found to have stabilized the growth rate of linear Rayleigh-Taylor instability.

scholarly journals Suppression of Subsynchronous Vibration in the SSME HPFTP

1991 ◽  
Author(s):  
David G. Becht ◽  
Larry A. Hawkins ◽  
Joseph K. Scharrer ◽  
Brian T. Murphy
Keyword(s):  
Test Data ◽  
Stability Margin ◽  
Data Evaluation ◽  
Fire Testing ◽  
Dynamic Data ◽  
Hot Gas ◽  
The Stability

Abstract SSME HPFTP hot-fire dynamic data evaluation and rotordynamic analysis both confirm that two of the most significant turbopump attributes in determining susceptibility to subsynchronous vibration are impeller interstage seal configuration and rotor sideload resulting from turbine turnaround duct configuration and hot gas manifold. Recent hot-fire testing has provided promising indications that the incorporation of roughened “damping” seals at the impeller interstages may further increase the stability margin of this machine. A summary of the analysis which led to the conclusion that roughened seals would enhance the stability margin is presented herein, along with a correlation of the analysis with recent test data.

Walking Stability Analysis of Multi-Legged Crablike Robot over Slope

2013 ◽  
Vol 572 ◽  
pp. 636-639
Author(s):  
Xi Chen ◽  
Gang Wang
Keyword(s):  
Mathematical Model ◽  
Stability Analysis ◽  
Stability Criterion ◽  
Stability Margin ◽  
Static Stability ◽  
Matlab Simulation ◽  
And Performance ◽  
The Stability ◽  
The Mathematical Model ◽  
The Relationship

This paper deals with the walking stability analysis of a multi-legged crablike robot over slope using normalized energy stability margin (NESM) method in order to develop a common stabilization description method and achieve robust locomotion for the robot over rough terrains. The robot is simplified with its static stability being described by NESM. The mathematical model of static stability margin is built so as to carry out the simulation of walking stability over slope for the crablike robot that walks in double tetrapod gait. As a consequence, the relationship between stability margin and the height of the robots centroid, as well as its inclination relative to the ground is calculated by the stability criterion. The success and performance of the stability criterion proposed is verified through MATLAB simulation and real-world experiments using multi-legged crablike robot.

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