Approaches to Development of Mechanical Design and Jumping Motion for a Wheeled Jumping Robot

2020 ◽  
pp. 52-89
Author(s):  
Lyudmila Yurievna Vorochaeva ◽  
Sergey Igorevich Savin ◽  
Andrei Vasilievich Malchikov ◽  
Andres Santiago Martinez Leon
Keyword(s):  
Control System ◽  
Mechanical Design ◽  
Kinematic Structure ◽  
Locomotion Control ◽  
Design Decisions ◽  
Jumping Robot ◽  
Monitoring Platform ◽  
Motion Types

This chapter is dedicated to tackling the issues related to the design and locomotion control of a hybrid wheeled jumping monitoring platform. The studied robot consists of a body mounted on a wheeled platform and of a jump acceleration module. An approach to making design decisions regarding the structure of the investigated robot is proposed. To select the kinematic structure of the robot, classifications of possible variants of hybrid jumping platforms and accelerating modules are presented. Methods for controlling the function of the accelerating modules and the analysis of their work is carried out. Various implementations of jumping motion are discussed; these implementations are characterized by different combinations of relative links movements during various stages of motion. Each of the proposed jump motion types requires the development of a control system, which is also discussed in this chapter.

Design of a Human Knee Reeducation Mechanism

2019 ◽  
Vol 11 (1) ◽  
pp. 42-53
Author(s):  
Allaoua Brahmia ◽  
Ridha Kelaiaia
Keyword(s):  
Lower Limb ◽  
Mechanical Design ◽  
Kinematic Chain ◽  
Lower Limbs ◽  
Kinematic Structure ◽  
Robotic Device ◽  
Human Knee ◽  
Kinematic Study ◽  
Rehabilitation Exercise ◽  
New Machine

Abstract To establish an exercise in open muscular chain rehabilitation (OMC), it is necessary to choose the type of kinematic chain of the mechanical / biomechanical system that constitutes the lower limbs in interaction with the robotic device. Indeed, it’s accepted in biomechanics that a rehabilitation exercise in OMC of the lower limb is performed with a fixed hip and a free foot. Based on these findings, a kinematic structure of a new machine, named Reeduc-Knee, is proposed, and a mechanical design is carried out. The contribution of this work is not limited to the mechanical design of the Reeduc-Knee system. Indeed, to define the minimum parameterizing defining the configuration of the device relative to an absolute reference, a geometric and kinematic study is presented.

scholarly journals An Adaptive Neuro-Fuzzy Control of Pneumatic Mechanical Ventilator

Actuators ◽  
2021 ◽  
Vol 10 (3) ◽  
pp. 51
Author(s):  
Jozef Živčák ◽  
Michal Kelemen ◽  
Ivan Virgala ◽  
Peter Marcinko ◽  
Peter Tuleja ◽  
...  
Keyword(s):  
Control System ◽  
Control Algorithm ◽  
Fuzzy Inference ◽  
Fuzzy Controller ◽  
Mechanical Design ◽  
Mechanical Ventilator ◽  
Mechanical Ventilators ◽  
Inference System ◽  
Control Approach ◽  
Neuro Fuzzy

COVID-19 was first identified in December 2019 in Wuhan, China. It mainly affects the respiratory system and can lead to the death of the patient. The motivation for this study was the current pandemic situation and general deficiency of emergency mechanical ventilators. The paper presents the development of a mechanical ventilator and its control algorithm. The main feature of the developed mechanical ventilator is AmbuBag compressed by a pneumatic actuator. The control algorithm is based on an adaptive neuro-fuzzy inference system (ANFIS), which integrates both neural networks and fuzzy logic principles. Mechanical design and hardware design are presented in the paper. Subsequently, there is a description of the process of data collecting and training of the fuzzy controller. The paper also presents a simulation model for verification of the designed control approach. The experimental results provide the verification of the designed control system. The novelty of the paper is, on the one hand, an implementation of the ANFIS controller for AmbuBag pressure control, with a description of training process. On other hand, the paper presents a novel design of a mechanical ventilator, with a detailed description of the hardware and control system. The last contribution of the paper lies in the mathematical and experimental description of AmbuBag for ventilation purposes.

scholarly journals An IoT Platform for Epilepsy Monitoring and Supervising

2017 ◽  
Vol 2017 ◽  
pp. 1-18 ◽  
Author(s):  
Paula M. Vergara ◽  
Enrique de la Cal ◽  
José R. Villar ◽  
Víctor M. González ◽  
Javier Sedano
Keyword(s):  
Monitoring Tool ◽  
Design Decisions ◽  
Iot Platform ◽  
Depth Analysis ◽  
The Everyday ◽  
Different Types ◽  
Main Factors ◽  
Partial Implementation ◽  
Epilepsy Monitoring ◽  
Monitoring Platform

Epilepsy is a chronic neurological disorder with several different types of seizures, some of them characterized by involuntary recurrent convulsions, which have a great impact on the everyday life of the patients. Several solutions have been proposed in the literature to detect this type of seizures and to monitor the patient; however, these approaches lack in ergonomic issues and in the suitable integration with the health system. This research makes an in-depth analysis of the main factors that an epileptic detection and monitoring tool should accomplish. Furthermore, we introduce the architecture for a specific epilepsy detection and monitoring platform, fulfilling these factors. Special attention has been given to the part of the system the patient should wear, providing details of this part of the platform. Finally, a partial implementation has been deployed and several tests have been proposed and carried out in order to make some design decisions.

scholarly journals Development of an Advanced Solar Tracking Energy System

2021 ◽  
pp. 77-82
Author(s):  
Samuel Davies ◽  
Sivagunalan Sivanathan ◽  
Ewen Constant ◽  
Kary Thanapalan
Keyword(s):  
Control System ◽  
System Performance ◽  
Mechanical Design ◽  
System Development ◽  
Tracking System ◽  
Energy System ◽  
Design And Implementation ◽  
Solar Tracking ◽  
Advanced Control ◽  
Stability Issues

AbstractThis paper describes the design of an advanced solar tracking system development that can be deployed for a range of applications. The work focused on the design and implementation of an advanced solar tracking system that follow the trajectory of the sun’s path to maximise the power capacity generated by the solar panel. The design concept focussed on reliability, cost effectiveness, and scalability. System performance is of course a key issue and is at the heart of influencing the hardware, software and mechanical design. The result ensured a better system performance achieved. Stability issues were also addressed, in relation to optimisation and reliability. The paper details the physical tracker device developed as a prototype, as well as the proposed advanced control system for optimising the tracking.

Nonlinear Integer and Discrete Programming in Mechanical Design

1988 ◽  
Author(s):  
E. Sandgren
Keyword(s):  
Mechanical Design ◽  
General Purpose ◽  
Conceptual Level ◽  
Design Problems ◽  
Design Decisions ◽  
Design Variables ◽  
Nonlinear Mathematical Programming ◽  
Discrete Programming ◽  
Mathematical Programming Problems ◽  
Quadratic Programming Method

Abstract A general purpose algorithm for the solution of nonlinear mathematical programming problems containing integer, discrete, zero-one and continuous design variables is described. The algorithm implements a branch and bound procedure in conjunction with both an exterior penalty function and a quadratic programming method. Variable bounds are handled independently from the design constraints which removes the necessity to reformulate the problem at each branching node. Examples are presented to demonstrate the utility of the algorithm for solving design problems. The use of zero-one variables to represent design decisions in order to allow conceptual level design to be performed is demonstrated.

Automatic tool with adaptive suspension system for high-quality inspection of underwater risers

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Vivian Suzano Medeiros ◽  
Alan Conci Kubrusly ◽  
Raphael Lydia Bertoche ◽  
Miguel Andrade Freitas ◽  
Claudio Camerini ◽  
...  
Keyword(s):  
Control System ◽  
Oil And Gas ◽  
Pipe Wall ◽  
Mechanical Design ◽  
Experimental Tests ◽  
Gas Production ◽  
Suspension System ◽  
Inspection System ◽  
High Definition ◽  
Content Type

Purpose The inspection of flexible risers is a critical activity to ensure continuous productivity and safety in oil and gas production. The purpose of this paper is to present the design and development of a novel automatic underwater tool for riser inspection that fits the most commonly used riser diameters and significantly improves inspection quality and reduces its operating costs. Design/methodology/approach The mechanical and electronic design of the inspection system is discussed, as well as its embedded sensors and control system. The tool is equipped with a suspension system that is able to adapt to the riser diameter and negotiate obstacles on the pipe wall. Numerical simulations were carried out to analyze the mechanical design, and a hardware-in-the-loop simulation was developed for tuning the control system. Further, experimental results are presented and discussed. Findings Experimental tests in laboratory tanks and shallow seawater have confirmed the effectiveness of the tool for detailed real-time inspection of underwater pipelines. Practical implications The use of the proposed tool will potentially reduce the time and costs for riser inspection, currently performed by divers or high-cost ROVs. Originality/value The authors present a reliable tool able to perform automatic inspections up to 250 m deep in less than 30 min, equipped with a high-definition visual inspection system, composed of full-HD cameras and lasers and a suspension mechanism that can negotiate sharp obstacles in the pipe wall up to 25 mm high. The tool uses a comprehensive control system that autonomously performs a full inspection, collecting sensors data and returning safely to the surface. Its robust design can be used as basis for several other nondestructive techniques, such as ultrasound and X-ray.

An Improved Timed Communication Buoy System

2017 ◽  
Vol 51 (4) ◽  
pp. 23-30 ◽  
Author(s):  
Ming Xu ◽  
Jiwei Tian ◽  
Wei Zhao ◽  
Qingxuan Yang ◽  
Chuan Tian
Keyword(s):  
Control System ◽  
Data Analysis ◽  
South China Sea ◽  
Mechanical Design ◽  
Control System Design ◽  
Electronic Control ◽  
Sea Trial ◽  
Electronic Control System ◽  
Local Current ◽  
Acoustic Doppler Current Profilers

AbstractIn this paper, we present an improved timed communication buoy system (TCBS). The system had a main float with a new mechanical design and a new electronic control system design, and described several modifications made to the autonomous communication float (ACF) of the improved TCBS. To evaluate the performance of this improved TCBS, a sea trial was conducted in the South China Sea from February to May 2015. During the sea trial, one of the ACFs was successfully released from the TCBS's main float and transmitted back the data collected by the dual acoustic Doppler current profilers (ADCPs) onboard. The preliminary data analysis for the local current conditions is also presented in this paper.

scholarly journals Bio-Inspired Adaptive Locomotion Control System for Online Adaptation of a Walking Robot on Complex Terrains

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 91587-91602 ◽  
Author(s):  
Potiwat Ngamkajornwiwat ◽  
Jettanan Homchanthanakul ◽  
Pitiwut Teerakittikul ◽  
Poramate Manoonpong
Keyword(s):  
Control System ◽  
Walking Robot ◽  
Locomotion Control ◽  
Adaptive Locomotion ◽  
Online Adaptation
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