scholarly journals Investigation into the control strategy for a long spine of Edinburgh Duck modules, using an efficient numerical model

2020 ◽  
Vol 3 (3) ◽  
pp. 145-154
Author(s):  
Alfred Cotten ◽  
David I. M. Forehand
Keyword(s):  
Numerical Model ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Complex Conjugate ◽  
Control Force ◽  
Power Extraction ◽  
Absorbed Power ◽  
Added Benefit ◽  
Joint Motions ◽  
Motion Constraint

An efficient numerical model of a spine of ten Edinburgh duck modules is developed. The spine joints and duck modules are modelled using a linear approach based on the theory of generalized modes, which mitigates the need for a more computationally expensive time- domain solver. This approach also allows for computation of the shear forces acting on the spine joints, and has the added benefit of enabling the use of complex conjugate control. The resulting hydrodynamic model is verified for a three duck spine against an alternative implementation that uses a nonlinear multibody solver to enforce the joint motions. A conservative weighted motion constraint is imposed on the controlled degrees of freedom of the ten duck spine, in order to ensure results stay within the bounds of the linear theory. Pertinent sections of the theory underpinning the constrained complex conjugate control method are elaborated upon for the case in which not all degrees of freedom are controlled. An implementation of this control method for a solo duck is compared against a result from the literature, in order to confirm the suitability of the choice of duck design in this study. The control force coefficients that maximise the absorbed power, subject to the motion constraint, are computed for the ten duck spine over a range of wave periods and wave heading angles. The resulting dynamics of the spine of ducks are explored, with particular emphasis on aspects related to the power extraction and forces acting within the system.

An Example of a Special Algorithm Application for Control of Aerial Guided Bomb Flight, during Guidance on the Ground Moving Target

2016 ◽  
Vol 817 ◽  
pp. 93-103
Author(s):  
Konrad Stefański
Keyword(s):  
Degrees Of Freedom ◽  
Phase Plane ◽  
Control Method ◽  
Moving Target ◽  
Control Force ◽  
Switching Algorithm ◽  
Control Forces ◽  
Positive Results ◽  
Three Degrees Of Freedom ◽  
Special Algorithm

This paper presents the analysis of the variety of methods regarding aerial guided bomb control during the ground attack on a moving target. Based on this method there was an earlier research regarding motion control of the three degrees of freedom gyroscope axis [1,2] during space exploration and discovered target tracking. Positive results obtained during that research led to conclusion that the proposed control method will be accurate to establish a control force for aerial bomb guiding. This method is based on the use of phase trajectories control deviations. Switching of the control forces in the particular phase plane points causes the deviations to decrease to zero and facilitates the proper trajectory of the bomb. This paper presents a switching algorithm, equations of kinematics and dynamics of a bomb flight-path and the variety of examples of a numerical simulations. Obtained results were presented in the graphic form.

scholarly journals A 4-DOF Upper Limb Exoskeleton for Physical Assistance: Design, Modeling, Control and Performance Evaluation

2021 ◽  
Vol 11 (13) ◽  
pp. 5865
Author(s):  
Muhammad Ahsan Gull ◽  
Mikkel Thoegersen ◽  
Stefan Hein Bengtson ◽  
Mostafa Mohammadi ◽  
Lotte N. S. Andreasen Struijk ◽  
...  
Keyword(s):  
Upper Limb ◽  
Tracking Control ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Mechanical Design ◽  
Trajectory Tracking Control ◽  
Upper Limb Exoskeleton ◽  
And Performance ◽  
Physically Disabled People ◽  
Human Upper Limb

Wheelchair mounted upper limb exoskeletons offer an alternative way to support disabled individuals in their activities of daily living (ADL). Key challenges in exoskeleton technology include innovative mechanical design and implementation of a control method that can assure a safe and comfortable interaction between the human upper limb and exoskeleton. In this article, we present a mechanical design of a four degrees of freedom (DOF) wheelchair mounted upper limb exoskeleton. The design takes advantage of non-backdrivable mechanism that can hold the output position without energy consumption and provide assistance to the completely paralyzed users. Moreover, a PD-based trajectory tracking control is implemented to enhance the performance of human exoskeleton system for two different tasks. Preliminary results are provided to show the effectiveness and reliability of using the proposed design for physically disabled people.

COMPLEX MASS FERMIONIC FIELDS

1994 ◽  
Vol 09 (12) ◽  
pp. 2103-2115 ◽  
Author(s):  
D.G. BARCI ◽  
L.E. OXMAN
Keyword(s):  
Degrees Of Freedom ◽  
Order Equation ◽  
Complex Conjugate ◽  
Zero Energy ◽  
Natural Representation ◽  
Symmetric State ◽  
Fermionic Field ◽  
Fermionic Fields ◽  
Real Mass ◽  
Mass Case

We consider a fermionic field obeying a second order equation containing a pair of complex conjugate mass parameters. After obtaining a natural representation for the different degrees of freedom, we are able to construct a unique vacuum as the more symmetric state (zero energy-momentum, charge and spin). This representation, unlike the real mass case, is not holomorphic in the Grassmann variables. The vacuum eigenstate allows the calculation of the field propagator which turns out to be half advanced plus half retarded.

scholarly journals Torque Ripple Suppression of PMSM Based on Robust Two Degrees-of-Freedom Resonant Controller

Energies ◽  
2021 ◽  
Vol 14 (4) ◽  
pp. 1015
Author(s):  
Mingfei Huang ◽  
Yongting Deng ◽  
Hongwen Li ◽  
Jing Liu ◽  
Meng Shao ◽  
...  
Keyword(s):  
Control Strategy ◽  
Measurement Errors ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Torque Ripple ◽  
Current Loop ◽  
Two Degrees Of Freedom ◽  
Robust Stability Analysis ◽  
Resonant Controller ◽  
Testing Environments

This paper concentrates on a robust resonant control strategy of a permanent magnet synchronous motor (PMSM) for electric drivers with model uncertainties and external disturbances to improve the control performance of the current loop. Firstly, to reduce the torque ripple of PMSM, the resonant controller with fractional order (FO) calculus is introduced. Then, a robust two degrees-of-freedom (Robust-TDOF) control strategy was designed based on the modified resonant controller. Finally, by combining the two control methods, this study proposes an enhanced Robust-TDOF regulation method, named as the robust two degrees-of-freedom resonant controller (Robust-TDOFR), to guarantee the robustness of model uncertainty and to further improve the performance with minimized periodic torque ripples. Meanwhile, a tuning method was constructed followed by stability and robust stability analysis. Furthermore, the proposed Robust-TDOFR control method was applied in the current loop of a PMSM to suppress the periodic current harmonics caused by non-ideal factors of inverter and current measurement errors. Finally, simulations and experiments were performed to validate our control strategy. The simulation and experimental results showed that the THDs (total harmonic distortion) of phase current decreased to a level of 0.69% and 5.79% in the two testing environments.

scholarly journals Formation Control of Unmanned Vessels with Saturation Constraint and Extended State Observation

2021 ◽  
Vol 9 (7) ◽  
pp. 772
Author(s):  
Huixuan Fu ◽  
Shichuan Wang ◽  
Yan Ji ◽  
Yuchao Wang
Keyword(s):  
Formation Control ◽  
Control Method ◽  
Tracking Error ◽  
External Environment ◽  
Control Force ◽  
Extended State ◽  
Parameter Perturbation ◽  
State Observation ◽  
Saturation Constraint ◽  
The Stability

This paper addressed the formation control problem of surface unmanned vessels with model uncertainty, parameter perturbation, and unknown environmental disturbances. A formation control method based on the control force saturation constraint and the extended state observer (ESO) was proposed. Compared with the control methods which only consider the disturbances from external environment, the method proposed in this paper took model uncertainties, parameter perturbation, and external environment disturbances as the compound disturbances, and the ESO was used to estimate and compensate for the disturbances, which improved the anti-disturbance performance of the controller. The formation controller was designed with the virtual leader strategy, and backstepping technique was designed with saturation constraint (SC) function to avoid the lack of force of the actuator. The stability of the closed-loop system was analyzed with the Lyapunov method, and it was proved that the whole system is uniformly and ultimately bounded. The tracking error can converge to arbitrarily small by choosing reasonable controller parameters. The comparison and analysis of simulation experiments showed that the controller designed in this paper had strong anti-disturbance and anti-saturation performance to the compound disturbances of vessels and can effectively complete the formation control.

scholarly journals Estimation of the Abduction/Adduction Movement of the Metacarpophalangeal Joint of the Thumb

2021 ◽  
Vol 11 (7) ◽  
pp. 3158
Author(s):  
Néstor J. Jarque-Bou ◽  
Margarita Vergara ◽  
Joaquín L. Sancho-Bru
Keyword(s):  
3D Modeling ◽  
Daily Living ◽  
Degrees Of Freedom ◽  
Estimation Error ◽  
Metacarpophalangeal Joint ◽  
Joint Movement ◽  
Carpometacarpal Joint ◽  
Small Space ◽  
Joint Motions

Thumb opposition is essential for grasping, and involves the flexion and abduction of the carpometacarpal and metacarpophalangeal joints of the thumb. The high number of degrees of freedom of the thumb in a fairly small space makes the in vivo recording of its kinematics a challenging task. For this reason, along with the very limited independence of the abduction movement of the metacarpophalangeal joint, many devices do not implement sensors to measure such movement, which may lead to important implications in terms of the accuracy of thumb models. The aims of this work are to examine the correlation between thumb joints and to obtain an equation that allows thumb metacarpophalangeal abduction/adduction movement to be estimated from the other joint motions of the thumb, during the commonest grasps used during activities of daily living and in free movement. The correlation analysis shows that metacarpophalangeal abduction/adduction movement can be expressed mainly from carpometacarpal joint movements. The model thus obtained presents a low estimation error (6.29°), with no significant differences between grasps. The results could benefit most fields that do not typically include this joint movement, such as virtual reality, teleoperation, 3D modeling, prostheses, and exoskeletons.

scholarly journals Flatness-Based Control of a Two Degrees-of-Freedom Platform With Pneumatic Artificial Muscles

2018 ◽  
Vol 141 (2) ◽  
Author(s):  
David Bou Saba ◽  
Paolo Massioni ◽  
Eric Bideaux ◽  
Xavier Brun
Keyword(s):  
Degrees Of Freedom ◽  
Control Method ◽  
Sliding Mode ◽  
Feedforward Control ◽  
Volume Ratio ◽  
Open Loop ◽  
Control Technique ◽  
Artificial Muscles ◽  
Two Degrees Of Freedom ◽  
Pneumatic Artificial Muscles

Pneumatic artificial muscles (PAMs) are an interesting type of actuators as they provide high power-to-weight and power-to-volume ratio. However, their efficient use requires very accurate control methods taking into account their complex and nonlinear dynamics. This paper considers a two degrees-of-freedom platform whose attitude is determined by three pneumatic muscles controlled by servovalves. An overactuation is present as three muscles are controlled for only two degrees-of-freedom. The contribution of this work is twofold. First, whereas most of the literature approaches the control of systems of similar nature with sliding mode control, we show that the platform can be controlled with the flatness-based approach. This method is a nonlinear open-loop controller. In addition, this approach is model-based, and it can be applied thanks to the accurate models of the muscles, the platform and the servovalves, experimentally developed. In addition to the flatness-based controller, which is mainly a feedforward control, a proportional-integral (PI) controller is added in order to overcome the modeling errors and to improve the control robustness. Second, we solve the overactuation of the platform by an adequate choice for the range of the efforts applied by the muscles. In this paper, we recall the basics of this control technique and then show how it is applied to the proposed experimental platform. At the end of the paper, the proposed approach is compared to the most commonly used control method, and its effectiveness is shown by means of experimental results.

Balancing Control of a Mobile Manipulator with Two Wheels by an Acceleration-Based Disturbance Observer

2018 ◽  
Vol 15 (03) ◽  
pp. 1850005 ◽  
Author(s):  
Yeong-Geol Bae ◽  
Seul Jung
Keyword(s):  
Disturbance Observer ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Experimental Studies ◽  
Service Robot ◽  
Mobile Manipulator ◽  
Control Performance ◽  
Six Degrees Of Freedom ◽  
Inertia Model ◽  
Balancing Control

This paper presents the balancing control performance of a mobile manipulator built in the laboratory as a service robot called Korean robot worker (KOBOKER). The robot is designed and implemented with two wheels as a mobile base and two arms with six degrees-of-freedom each. Kinematics and dynamics of the robot are analyzed. For the balancing control performance, two wheels are controlled independently by the time-delayed control method based on the inertia model of the robot. The acceleration information obtained directly from the sensor is used for the modified disturbance observer structure called an acceleration-based disturbance observer (AbDOB). Experimental studies of the balancing control of the robot are conducted to compare the control performances by both a PID control method and an AbDOB.

Numerical Towing Model for LNG Carrier Approach in Exposed Environment Calibrated With Full-Scale Measurements and Operability Criterion

2021 ◽  
Author(s):  
Erwan Auburtin ◽  
Quentin Delivré ◽  
Jason McConochie ◽  
Jim Brown ◽  
Yuriy Drobyshevski
Keyword(s):  
Numerical Model ◽  
Degrees Of Freedom ◽  
Line Tension ◽  
Full Scale ◽  
Model Parameters ◽  
Wave Loads ◽  
Simplified Approach ◽  
Large Matrix ◽  
Multi Body ◽  
The Impact

Abstract The Prelude Floating Liquefied Natural Gas (FLNG) platform is designed to offload liquefied natural and petroleum gas products to carrier vessels moored in a Side-by-Side (SBS) configuration. Prior to the mooring operation, the carrier vessel is escorted and held alongside the FLNG with the assistance of tugs connected to her bow and stern to ensure sufficient control over the vessel in this critical phase. In order to better understand the impact of environmental conditions, to determine the optimum length, strength, material and configuration of the towline stretcher, and to estimate the maximum operable environments, coupled multi-body simulations have been performed in time domain. The numerical model, which considered both the LNG carrier and the forward tug, was calibrated using full-scale measurements of tug motions and tow line tension recorded during a real approach and berthing manoeuvre at Prelude FLNG. The measured environment effects were generated numerically and the model parameters were adjusted to reproduce the recorded behavior as accurately as possible. Since actions of the tug master are difficult to model numerically and only the statistical environment parameters are known, a simplified approach has been adopted for modelling the tug propulsion and steering using a combination of static forces, stiffness and linear and quadratic damping for relevant horizontal degrees of freedom. The calibrated numerical model was first subjected to several sensitivity assessments of the modelling level (single- or multi-body, inclusion of second-order wave loads, inclusion of forward speed). Then sensitivity studies were performed to help address operational requirements related to the wave height and direction, and the stretcher length and strength. The conclusions have been taken into consideration for the selection of the tow line configurations for future operations. Finally, the calibrated coupled LNG carrier and tug model was used to derive Prelude-specific tug operability criteria that may be used for decision-making based on weather forecasts, prior to the SBS offloading operations. A large matrix of swell and wind driven waves was simulated over a range of wave heights, periods, directions and static towing forces to allow a criterion to be developed based on a stochastic extreme tow line tension. Such criterion considers relevant wave parameters while remaining simplified enough for easy use in operations. This paper describes the assumptions and process to numerically model the towing configuration and calibrate the different coefficients, discusses the results obtained for the various sensitivities, and explains the operability criteria. Important conclusions and lessons learnt are also shared.

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