Analysis and Experiments on Pulse Vibrating Suction Method for Wall Climbing Robot

2011 ◽  
Vol 201-203 ◽  
pp. 1837-1844
Author(s):  
Xiao Yang Zhao ◽  
Rong Liu ◽  
Ke Wang ◽  
Jun Hu He
Keyword(s):  
Mathematical Model ◽  
Small Deviation ◽  
Experimental Results ◽  
Control Parameters ◽  
Climbing Robot ◽  
Experimental Platform ◽  
Suction Cup ◽  
Suction Cups ◽  
The Mathematical Model ◽  
Simplified Mathematical Model

This template explains and demonstrates how to prepare your camera-ready paper for In this paper, the pulse vibrating suction method (PVSM) for wall climbing robot is presented, which is based on the principle of vibrating suction method. To analyze this method in depth and evaluate its performance, a simplified mathematical model based on some assumptions is built, and a new experimental platform for single suction cup is developed as well. Experiments on single suction cups indicate that the experimental results match the mathematical model well with only small deviation, which is caused by some unknown factors. Then experiments are carried out on a vibrating suction module which was developed previously. With the PVSM, the suction module can stay on the wall stabely, which verifies the vadality of this vibrating method. Suction failures for the module are also analyzed with different control parameters.

scholarly journals A Pressing Attachment Approach for a Wall-Climbing Robot Utilizing Passive Suction Cups

Robotics ◽  
2020 ◽  
Vol 9 (2) ◽  
pp. 26
Author(s):  
Dingxin Ge ◽  
Yongchen Tang ◽  
Shugen Ma ◽  
Takahiro Matsuno ◽  
Chao Ren
Keyword(s):  
Experimental Test ◽  
Experimental Results ◽  
Climbing Robot ◽  
Guide Rail ◽  
Test Bed ◽  
Climbing Robots ◽  
Pressing Method ◽  
Suction Cup ◽  
Suction Cups

This paper proposes a pressing method for wall-climbing robots to prevent them from falling. In order to realize the method, the properties of the utilized suction cup are studied experimentally. Then based on the results, a guide rail is designed to distribute the attached suction cup force and implement the pressing method. A prototype of a wall-climbing robot that utilizes passive suction cups and one motor is used to demonstrate the proposed method. An experimental test-bed is designed to measure the force changes of the suction cup when the robot climbs upwards. The experimental results validate that the suction cup can completely attach to the surface by the proposed method, and demonstrate that the robot can climb upwards without falling.

Mathematical Modeling of Electrochemical Deburring

2010 ◽  
Vol 126-128 ◽  
pp. 545-550 ◽  
Author(s):  
Wen Ji Xu ◽  
W. Wang ◽  
Xu Yue Wang ◽  
Gui Bing Pang
Keyword(s):  
Mathematical Modeling ◽  
Mathematical Model ◽  
Influencing Factors ◽  
Applied Voltage ◽  
Experimental Results ◽  
Electrode Gap ◽  
Workpiece Material ◽  
Burr Height ◽  
Object A ◽  
The Mathematical Model

The drilling burr is taken as the research object. A mathematical model of electrochemical deburring (ECD) is established and the effects of main influencing factors, such as inter-electrode gap, applied voltage and deburring time, on burr height have been analyzed. The results show that the deburring time increases with the increase of initial burr height, inter-electrode gap, with the decrease of volume of electrochemical equivalent of the workpiece material, conductivity of electrolyte and applied voltage. The deburring time for various burr heights can be predicted by the mathematical model. The calculated results obtained from the mathematical model are approximately consistent with the experimental results. The results show that initial burr height h0=0.722mm is removed, and the fillet radius R=0.211mm is obtained.

Sliding Mode Control of the Human Vestibular System

2012 ◽  
Author(s):  
Rachael McCarty ◽  
S. Nima Mahmoodi ◽  
Keith Williams
Keyword(s):  
Mathematical Model ◽  
Sliding Mode Control ◽  
Vestibular System ◽  
Head Movement ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Control Parameters ◽  
Mode Control ◽  
The Mathematical Model ◽  
The Brain

An original sliding mode controller is designed, based on an existing mathematical model for response control of the human vestibular system. The human vestibular system is located in the inner ear and significantly contributes to the functions of detecting head motion, maintaining balance and posture, and realizing gaze stabilization. The vestibular system sends signals to the brain to tell it how the head and body are moving, and the brain reacts by changing eye position accordingly. The nonlinearities of the vestibular system are not completely understood. The biggest nonlinearity is the nystagmus, a bouncing of the eyes to compensate for quick head movement. Another nonlinearity is that the quick phase does not start until head movement reaches a certain frequency. Considering these nonlinearities as well as the uncertainties of the system, sliding mode control a good choice for controlling the system. Several mathematical models of the human vestibular system are considered for use in the control design. The best model of those considered is chosen based on the models’ consideration of nonlinearities and their levels of complexity. The mathematical model used in this paper is a nonlinear transfer function. The output is controlled with a robust sliding mode controller. Results demonstrate the need to increase control parameters as frequency of the sinusoidal input increases to minimize overshoot error. However, since the human head cannot tolerate an infinitely large frequency input, control parameters also will necessarily be limited. Therefore, results show that the designed sliding mode robust controller is an effective mechanism for controlling the mathematical model of the human vestibular system.

Rotor/Seal Experimental and Analytical Study on Full Annular Rub

2002 ◽  
Vol 124 (2) ◽  
pp. 340-350 ◽  
Author(s):  
J. J. Yu ◽  
P. Goldman ◽  
D. E. Bently ◽  
A. Muzynska
Keyword(s):  
Mathematical Model ◽  
Dry Friction ◽  
Analytical Study ◽  
Experimental Results ◽  
Triggering Mechanism ◽  
Mass Unbalance ◽  
Destabilizing Factors ◽  
Small Clearance ◽  
Nonlinear Solutions ◽  
Simplified Mathematical Model

Rotor/seal full annular rub, including synchronous (forward) and reverse (backward) precessions, has been investigated both experimentally and analytically. Of particular interest is the finding of reverse precessional full annular rub (dry whip) that occurs repeatedly in small clearance cases without any outside disturbance. The experimental results include rub triggering mechanism, mass unbalance, and rotative speed effects. A simplified mathematical model is used to interpret experimental results. Nonlinear solutions for both synchronous and reverse precessions are obtained along with instability zones. Mass unbalance effect on shifting from synchronous response to reverse rub and destabilizing factors such as dry friction, rotor damping, and seal stiffness, are discussed.

Rotor/Seal Experimental and Analytical Study on Full Annular Rub

2000 ◽  
Author(s):  
John J. Yu ◽  
Paul Goldman ◽  
Donald E. Bently
Keyword(s):  
Mathematical Model ◽  
Dry Friction ◽  
Analytical Study ◽  
Experimental Results ◽  
Triggering Mechanism ◽  
Mass Unbalance ◽  
Destabilizing Factors ◽  
Small Clearance ◽  
Nonlinear Solutions ◽  
Simplified Mathematical Model

Rotor/seal full annular rub, including synchronous (forward) and reverse (backward) precessions, has been investigated both experimentally and analytically. Of particular interest is the finding of reverse precessional full annular rub (dry whip) that occurs repeatedly in small clearance cases without any outside disturbance. The experimental results include rub triggering mechanism, mass unbalance, and rotative speed effects. A simplified mathematical model is used to interpret experimental results. Nonlinear solutions for both synchronous and reverse precessions are obtained along with instability zones. Mass unbalance effect on shifting from synchronous response to reverse rub and destabilizing factors such as dry friction, rotor damping, and seal stiffness, are discussed.

Shaping Law and Motion Design in NC-ECM under Effect of Twiste Angle

2011 ◽  
Vol 128-129 ◽  
pp. 1010-1014
Author(s):  
Rui Wu ◽  
Dan Wen Zhang ◽  
Juan Sun
Keyword(s):  
Mathematical Model ◽  
Electrochemical Machining ◽  
Experimental Results ◽  
Working Face ◽  
Relationship Of ◽  
The Mathematical Model ◽  
The Relationship ◽  
Motion Design

The twiste angle has a great effect on shaping law and stability of Numerical Controlled Electrochemical Machining (NC-ECM) process. In order to avoid the disadvantages caused by twiste angle, a methode of study shaping law by dispersing cathode working face in NC-ECM was proposed, and a mathematical model of the shaping law with the effects of twiste angle has been established in this paper. The mathematical model disclosed the relationship of twiste angle β, feeding velocity vf and thickness of removal material h in NC-ECM. Theoretical and experimental results show the the mathematical model of shaping law described in this paper can be considered as a useful reference and is helpful for the analysis of the NC-ECM and general ECM process.

scholarly journals Experimental Study of the Forces and Parameters for the Opening of Incisions Inside Ocular Cavity

2020 ◽  
Author(s):  
Victor Olenin Ramírez-Beltrán ◽  
Luis Adrian Zuninga Avilés ◽  
Rosa Maria Valdovinos-Rosas ◽  
Jose Javier Reyes-Lagos ◽  
Giorgio Mackenzie Cruz-Martínez
Keyword(s):  
Experimental Data ◽  
Mathematical Model ◽  
Experimental Study ◽  
Linear Relationship ◽  
Elastic Material ◽  
Experimental Results ◽  
Orbital Cavity ◽  
Experimental Procedure ◽  
The Mathematical Model

The experimental results of forces and efforts derived from the opening of incisions in the orbital cavity in a pig’s head are presented in this article. The different areas of the incision openings are related to the needs at the incision procedure for a dacryocystorhinostomy. In terms of the experimental procedure, an origin and a plane are defined so as to allow the location of the opening of the incision. The incisions are retracted along an axis of said origin. This procedure has been based on the mathematical model developed for this work, which consists of a procedure for determining the behavior of an incision when a force is applied to retract the skin. The experimental data obtained, suggests the existence of an almost linear relationship between the increment of resistance in relation to the time obtained for each opening, the same of which is deemed to be consistent with the behavior of an elastic material.

Modeling and Calibration of Grid Structured Light Based 3-D Vision Inspection

1999 ◽  
Vol 122 (4) ◽  
pp. 734-738 ◽  
Author(s):  
Guangjun Zhang ◽  
Liqun Ma
Keyword(s):  
Mathematical Model ◽  
Coordinate System ◽  
Structured Light ◽  
Calibration Method ◽  
Experimental Results ◽  
Image Feature ◽  
Feature Analysis ◽  
Calibration Process ◽  
Vision Inspection ◽  
The Mathematical Model

The principle of structured light 3-D vision is introduced, and using projective and perspective transformations, the mathematical model of grid structured light based 3-D vision inspection is established in homogeneous coordinate system in this paper. Based on the image feature analysis of grid structured light, a calibration method of grid structured light based 3-D vision inspection is proposed, and experimental results are also presented. This method is easy, efficient and fast to carry out. It simplifies the calibration process while guaranteeing its accuracy. [S1087-1357(00)00703-6]

Study of the Mathematical Model for Online Predicting Mix Mooney Viscosity on the Rubber Open Mill

2013 ◽  
Vol 561 ◽  
pp. 54-58
Author(s):  
Xian Kui Zeng ◽  
Chang He Yang ◽  
Ze Shuai Song ◽  
Shu Hong Zhao
Keyword(s):  
Mathematical Model ◽  
Low Temperature ◽  
The Self ◽  
Experimental Results ◽  
Mooney Viscosity ◽  
The Mathematical Model ◽  
Predictive Effect

According to studying the mechanism of open mill mixing in low temperature and its intelligent mixing theory, based on the analysis of the experimental results getting from the self-developed XK-160E type open mill, we established a mathematical model for predicting the mix Mooney viscosity. The inspection and verification of mathematical model results showed that the predicted Mooney viscosity was very close to the practical value indicating a good predictive effect．

Component Tests and Simulation of Advanced Buckling Restrained Braces

2006 ◽  
Author(s):  
C. S. Tsai ◽  
Wen-Shin Chen ◽  
Bo-Jen Chen
Keyword(s):  
Mathematical Model ◽  
Civil Engineering ◽  
Numerical Results ◽  
Experimental Results ◽  
Maximum Compression ◽  
Maximum Tension ◽  
Buckling Restrained Braces ◽  
The Mathematical Model

Recently, the earthquake proof technology has been acknowledged to be able to ensure the safety of the structures effectively during earthquakes. In this paper, two advanced buckling restrained braces (BRBs) that include multi-curved reinforced BRB and simplified reinforced BRB are presented. These two braces not only improve the disadvantages of traditional buckling restrained braces but also are more economic than the traditional ones. In order to understand the behaviors of advanced buckling restrained braces, the component tests of the advanced buckling restrained braces were carried out in the Department of Civil Engineering, Feng Chia University, Taichung, Taiwan. The experimental results illustrate that the behaviors of the advanced buckling restrained braces were very stable, as well as the maximum tension forces are close to the maximum compression forces. Furthermore, the Wen’s model in an increment form was utilized to simulate the behaviors of the advanced buckling restrained braces under cyclic loadings. The comparison between the experimental and numerical results shows that the mathematical model could simulate the behaviors of the advanced BRBs well.

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