Verification of the Mathematical Model for an Underwater Crawler Robot

2016 ◽  
Vol 817 ◽  
pp. 223-233
Author(s):  
Krzysztof Kurc ◽  
Dariusz Szybicki
Keyword(s):  
Mathematical Model ◽  
Water Supply ◽  
Cross Sections ◽  
Structural Model ◽  
Virtual Prototyping ◽  
Real Object ◽  
Design Stage ◽  
Kinematics And Dynamics ◽  
The Mathematical Model

This paper presents the mathematical and structural model as well as the verificationof a designed and built underwater crawler robot. The underwater crawler robot is designed to inspect elements of the water supply infrastructure, including pools, reservoirs and pipelines with round or square cross-sections. The virtual prototyping process is described as well as the various possible uses (design adaptability) depending on the optional accessories added to the vehicle. A mathematical model is presented to show the kinematics and dynamics of the underwater crawler robot, essential for the design stage. The mathematical model was used for a number of simulations and subjected to verification on a real object in two test environments.

scholarly journals The application of virtual prototyping methods to determine the dynamic parameters of mobile robot

2016 ◽  
Vol 6 (1) ◽  
Author(s):  
Krzysztof Kurc ◽  
Dariusz Szybicki ◽  
Andrzej Burghardt ◽  
Magdalena Muszyńska
Keyword(s):  
Mathematical Model ◽  
Mobile Robot ◽  
Virtual Prototyping ◽  
Design Stage ◽  
Kinematics And Dynamics ◽  
Underwater Robot ◽  
Design Tools ◽  
Dynamic Parameters ◽  
Mechatronic Design

Abstract The paper presents methods used to determine the parameters necessary to build a mathematical model of an underwater robot with a crawler drive. The parameters present in the dynamics equation will be determined by means of advanced mechatronic design tools, including: CAD/CAE software andMES modules. The virtual prototyping process is described as well as the various possible uses (design adaptability) depending on the optional accessories added to the vehicle. A mathematical model is presented to show the kinematics and dynamics of the underwater crawler robot, essential for the design stage.

FEATURES OF APPLICATION OF SMALL RECONNAISSANCE ROBOT

2019 ◽  
pp. 29-38 ◽  
Author(s):  
R. Zinko ◽  
P. Kazan ◽  
D. Khaustov ◽  
O. Bilyk
Keyword(s):  
Mathematical Model ◽  
Armed Forces ◽  
Climatic Conditions ◽  
Design Stage ◽  
Experimental Sample ◽  
Single Trial ◽  
Test Cycle ◽  
Military Equipment ◽  
The Mathematical Model ◽  
Human Losses

A small intelligence robot (SSR) is a special military intelligence means. It is used to obtain information about the enemy - the collection of intelligence, the search for targets and target indication, observation of the situation, etc. The use of a small intelligence robot is assumed in various natural and climatic conditions: in temperate terrain, on soils with low bearing capacity, at low temperatures, in the desert, on sandy and marshy soils, on rocky soils, in elevated temperature and dustiness of air, and also in conditions highlands In the article an overview of modern developments of remotely controlled robotic military complexes, principles of their construction and perspective directions of development in the armed forces are reviewed. The issues of robotization of existing weapons and military equipment are considered. Every sample of a SSR used in combat action must possess all combat characteristics at once in an optimal ratio between them, ensuring its maximum effectiveness. Ignoring any of the properties or enhancing one property at the expense of others will not enable the full realization of the small surveillance robot. It is reasonable to select the relevant properties at the design stage, using the possibilities of mathematical modeling. The set of tactical and technical characteristics of the SSR allowed forming this. Its characteristics determine the scope and possibilities of application. The mathematical model of the SSR motion is written in the Matlab Simulink environment. Recorded mathematical model of SSR motion, formed single test cycle and input data allowed to conduct computer simulation of motion in possible conditions of operation of small surveillance robot.The single trial cycle presented contains a set of individual sites and reproduces the testing test cycle of a real polygon. On the basis of the developed tactical and technical characteristics of the SSR, the experimental sample was made. An example of the use of SSR for the intelligence of the settlement and at keeping the node of barriers has been provided. The efficiency of performing intelligence units’ tasks and reducing the risk of human losses are shown.

Dynamic Analysis on a Cable-Driven Interventional Active Catheter Using Kane's Method Combined with Screw Theory

2014 ◽  
Vol 527 ◽  
pp. 140-145
Author(s):  
Da Xu Zhao ◽  
Bai Chen ◽  
Guo Zhong Shou ◽  
Yu Qi Gu
Keyword(s):  
Mathematical Model ◽  
Dynamic Analysis ◽  
Motion Control ◽  
Screw Theory ◽  
Driving Forces ◽  
Structure Design ◽  
Kinematics And Dynamics ◽  
Existing Problems ◽  
Blind Area ◽  
The Mathematical Model

In view of the existing problems of traditional interventional catheters, particularly poor activity, operation difficulty and mass blind area, a novel interventional catheter with a cable-driven active head-end is proposed, and a prototype was built to verify the performance. This paper deals with the kinematics and dynamics of the cable-driven prototype, a dynamic model based on Kanes method combined with screw theory was presented in this paper. According the mathematical model and the prototypes structure, the analysis of kinematics and dynamics of active head-end-end is done in the environment of Mathematica. The needed driving forces of every joint when the system moving along planned trajectory are calculated. The results can provide a basis for the structure design and motion control of the interventional active catheter.

Mathematical Model for the Influence of Machine Tool Parts Deformation on Machining Accuracy

2014 ◽  
Vol 556-562 ◽  
pp. 1354-1357
Author(s):  
Li Gong Cui ◽  
Gui Qiang Liang ◽  
Fang Shao
Keyword(s):  
Mathematical Model ◽  
Mathematical Method ◽  
Machine Tool ◽  
Cutting Tool ◽  
Lower Surface ◽  
Design Stage ◽  
Machining Accuracy ◽  
Cutting Point ◽  
The Mathematical Model

This paper presents a mathematical method to analyze the influence of each machine tool part deformation on the machining accuracy. Taking a 3-axis machine tool as an example, this paper divides the machine tool into the cutting tool sub-system and workpiece sub-system. Taking the deformation of lower surface of the machine bed as the research target, the mathematical model of the deformation on the displacement of the cutting point was established. In order to distribute the stiffness of each part, the contribution degree of each part on the machining accuracy was analyzed. Using this mathematical model, the stiffness of each part can be distributed at the design stage of the machine tool, and the machining accuracy of the machine tool can be improved economically.

scholarly journals The Research on the Visual Obstacle-Avoidance Optimization in Robots Control

2013 ◽  
Vol 756-759 ◽  
pp. 372-375
Author(s):  
Hong Bin Tian
Keyword(s):  
Mathematical Model ◽  
Control System ◽  
Obstacle Avoidance ◽  
Visual Information ◽  
Structural Model ◽  
Three Dimension ◽  
Coordination Control ◽  
Dimension Space ◽  
The Mathematical Model ◽  
Very High

In order to increase the movement capability of the robotic visual system in three-dimension space, the paper designs an obstacle-avoidance algorithm based on robotic movement visual by effectively processing the visual information colleted by the robotics. This paper establishes a structural model of coordination control system. The obstacles can be effectively identified and avoided by the obstacle-avoidance theory in the robotics coordination operation. The mathematical model of the obstacle-avoidance algorithm can predict the locations of the obstacles. The experiment proves the proposed algorithm can avoid the obstacles in three-dimension space and the accuracy is very high.

scholarly journals Belt conveyor failure simulation at the design stage with transverse displacements of the belt

2020 ◽  
Vol 168 ◽  
pp. 00056
Author(s):  
Vitalii Monastyrskyi ◽  
Serhii Monastyrskyi ◽  
Denis Nomerovskyi ◽  
Borys Mostovyi
Keyword(s):  
Experimental Data ◽  
Mathematical Model ◽  
Fourier Transform ◽  
Adaptive Control ◽  
Design Stage ◽  
Belt Conveyor ◽  
Failure Simulation ◽  
The Fourier Transform ◽  
External Forces ◽  
The Mathematical Model

To find possible conveyor failures at the design stage means to determine a transverse belt displacement and compare the obtained data with the permissible ones. The dynamic problem of the belt movement on the conveyor has been defined. Resistance and external forces, limits of the belt displacement have been determined. The transverse belt displacement can be described by partial differential equations. To solve the problem, the Fourier transform has been used. Change patterns in the transverse belt conveyor displacement dependent on conveyor’s parameters, type of load, and skewing of the idlers along the conveyor have been obtained. The results agree with experimental data. The method of adaptive control of the transverse belt displacement has been described. The essence of this method is to adapt the model of the moving belt in the conveying trough to changed conditions and to reveal the uncertainty of the control with the known parameters of the mathematical model.

Mobile Robots Characterized by Kinematic and Dynamic Equations: Motion Planning, Trajectory Tracking, and Group Control

2008 ◽  
Author(s):  
Amit Ailon
Keyword(s):  
Mathematical Model ◽  
Motion Planning ◽  
Mobile Robots ◽  
Dynamic Equations ◽  
Kinematics And Dynamics ◽  
Control Problems ◽  
Reference Trajectory ◽  
Numerical Examples ◽  
Group Control ◽  
The Mathematical Model

The paper solves some control problems of mobile robots as both kinematics and dynamics are intertwined in the mathematical model. The problems of driving the vehicle to a desired configuration in a specified time and tracking a reference trajectory are considered. The control problems associated with motion in convoy and rigid formations of a group of vehicles are studied and some results are demonstrated by numerical examples.

Modeling and Analyses of the N-Link Bent-Arm PenduBot

2010 ◽  
Vol 171-172 ◽  
pp. 644-647
Author(s):  
Shao Qiang Yuan ◽  
Xin Xin Li
Keyword(s):  
Mathematical Model ◽  
Mathematical Models ◽  
Nonlinear Model ◽  
Condition Number ◽  
Kinematics And Dynamics ◽  
Controllability Matrix ◽  
Human Arm ◽  
The World ◽  
The Mathematical Model ◽  
Natural Characteristics

Bent-arm PenduBot is more similar to human arm, which attaches more and more robot experts’ attention around the world. As the foundation of the multi-link PenduBot control, the mathematical model should be established first. Based on the method of kinematics and dynamics, the N-link bent-arm PenduBot mathematical models are established in this paper, including the nonlinear model and the linear model. The natural characteristics of different pendulum are analyzed. By using the condition number of the controllability matrix, the control difficulty for higher order systems is compared.

scholarly journals Mathematical Model with Feedback Loop in Company Control

2021 ◽  
Vol 114 ◽  
pp. 01020
Author(s):  
Arkadiy Plotnikov ◽  
Tatyana Goryacheva ◽  
Flyura Kazakova ◽  
Ekaterina Zakharchenko
Keyword(s):  
Mathematical Model ◽  
Differential Equations ◽  
Feedback Loop ◽  
Structural Model ◽  
Production Costs ◽  
Operator Form ◽  
Single Industry ◽  
Dynamic Relationships ◽  
The Mathematical Model ◽  
Further Development

This article is devoted to the further development of feedback loop models. They are used in the management of a single-industry firm. The development of the studying consists in the mathematical modeling of transients and assessing their impact on economic indicators. To solve this problem, the following was done in the article. A structural model of the functioning of a single-industry firm (SIF) is presented. It is built in accordance with the theory of automatic control (TAC) and includes elements: a management unit, a production unit, a sales unit, information nodes, as well as a feedback loop (FL). Equations and relationships describing the logic of the functioning of the company as a production system are presented. They allowed us to derive dynamic relationships and differential equations that reflect feedback loops on revenue and production costs. The system of expressions in operator form is presented, which describes the contour of the FL SIF. It has the form of a system of differential equations. It forms the basis of the mathematical model of SIF in the control system. This model made it possible to obtain a graphical interpretation of transients with closed and open FL based on the use of the Mathcad editor. Transients are fluctuations in sales volumes and production costs in the presence of disturbing influences. This is the scientific result and determines the novelty of the article.

scholarly journals Nurbs modeling for design waterline based on the variation of sectional area curve

2021 ◽  
Vol 3 (SI2) ◽  
pp. SI37-SI46
Author(s):  
Hoa Thị Ngọc Nguyễn ◽  
Ngoc Bich Vu ◽  
Tat-Hien Le
Keyword(s):  
Mathematical Model ◽  
Quadratic Function ◽  
Design Stage ◽  
Sectional Area ◽  
Hull Form ◽  
B Spline ◽  
Preliminary Design Stage ◽  
Form Design ◽  
Hull Form Design ◽  
The Mathematical Model

Hull form design from parent ships transforms the ship's parameters based on the variation of theoretical sectional area curve of the Lackenby method. The correction and modification of the theoretical sectional area curve is essentially the change of ship displacement, hull form coefficients, and the longitudinal center of buoyancy from the parent ships. In the preliminary design stage, the hull form design approach from parent ships minimizes the risks compared to the new design while still retaining hydrostatic and hydrodynamics' advantages. However, the Lackenby method of ship hull form variation uses a linear or quadratic function to shift the sectional area curves, regardless of the ship's hull form faring, especially the curvature's discontinuity the bow, stern, and midship. Therefore, the computer graphic algorithm based on the B-spline function is studied and applied; simultaneously, the mathematical model for the designed waterline is built in the form of a continuous curve instead of the B-spline segments. In this study, the mathematical model for the coastal container ship's design water line is constructed, ensuring continuity and fairing throughout the continuous B-spline curve. The geometry continuity evaluation results are expressed through the parameter curve's curvature and resistance component calculations' performance by computational analysis.

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