scholarly journals An Adaptive -Based Formation Control for Multirobot Systems

ISRN Robotics ◽  
2013 ◽  
Vol 2013 ◽  
pp. 1-12
Author(s):  
Faridoon Shabani ◽  
Bijan Ranjbar ◽  
Ali Ghadamyari
Keyword(s):  
Formation Control ◽  
Degrees Of Freedom ◽  
Autonomous Systems ◽  
Approximation Error ◽  
Formal Proof ◽  
Multirobot Systems ◽  
External Disturbances ◽  
Input Nonlinearity ◽  
Formation Problem ◽  
Definition Of

We describe a decentralized formation problem for multiple robots, where an formation controller is proposed. The network of dynamic agents with external disturbances and uncertainties are discussed in formation problems. We first describe how to design social potential fields to obtain a formation with the shape of a polygon. Then, we provide a formal proof of the asymptotic stability of the system, based on the definition of a proper Lyapunov function and technique. The advantages of the proposed controller can be listed as robustness to input nonlinearity, external disturbances, and model uncertainties, while applicability on a group of any autonomous systems with -degrees of freedom. Finally, simulation results are demonstrated for a multiagent formation problem of a group of six robots, illustrating the effective attenuation of approximation error and external disturbances, even in the case of agent failure or leader tracking.

scholarly journals Decentralized Discrete-Time Formation Control for Multirobot Systems

2013 ◽  
Vol 2013 ◽  
pp. 1-8 ◽  
Author(s):  
E. G. Hernandez-Martinez ◽  
J. J. Flores-Godoy ◽  
G. Fernandez-Anaya
Keyword(s):  
Discrete Time ◽  
Formation Control ◽  
Group Behavior ◽  
Formal Proof ◽  
Attractive Potential ◽  
Multirobot Systems ◽  
Team Members ◽  
Group Motion ◽  
Formation Pattern ◽  
Biological Entities

Inspired from the collective behavior of biological entities for the group motion coordination, this paper analyzes the formation control of mobile robots in discrete time where each robot can sense only the position of certain team members and the group behavior is achieved through the local interactions of robots. The main contribution is an original formal proof about the global convergence to the formation pattern represented by an arbitrary Formation Graph using attractive potential functions. The analysis is addressed for the case of omnidirectional robots with numerical simulations.

Shape Dynamics and the Linking Theory

2018 ◽  
Author(s):  
Flavio Mercati
Keyword(s):  
Phase Space ◽  
Degrees Of Freedom ◽  
Line Element ◽  
Hamiltonian Formulation ◽  
Operational Definition ◽  
Extended Phase Space ◽  
Extended Phase ◽  
Problem Of Time ◽  
Definition Of ◽  
Matter Fields

This chapter explains in detail the current Hamiltonian formulation of SD, and the concept of Linking Theory of which (GR) and SD are two complementary gauge-fixings. The physical degrees of freedom of SD are identified, the simple way in which it solves the problem of time and the problem of observables in quantum gravity are explained, and the solution to the problem of constructing a spacetime slab from a solution of SD (and the related definition of physical rods and clocks) is described. Furthermore, the canonical way of coupling matter to SD is introduced, together with the operational definition of four-dimensional line element as an effective background for matter fields. The chapter concludes with two ‘structural’ results obtained in the attempt of finding a construction principle for SD: the concept of ‘symmetry doubling’, related to the BRST formulation of the theory, and the idea of ‘conformogeometrodynamics regained’, that is, to derive the theory as the unique one in the extended phase space of GR that realizes the symmetry doubling idea.

scholarly journals Local modal participation analysis of nonlinear systems using Poincaré linearization

2019 ◽  
Vol 99 (1) ◽  
pp. 803-811 ◽  
Author(s):  
Boumediene Hamzi ◽  
Eyad H. Abed
Keyword(s):  
Nonlinear Systems ◽  
Autonomous Systems ◽  
Analytical Formula ◽  
Linear Case ◽  
Local Mode ◽  
Initial Condition ◽  
Initial State ◽  
State Participation ◽  
Symmetry Assumption ◽  
Definition Of

AbstractThe paper studies an extension to nonlinear systems of a recently proposed approach to the definition of modal participation factors. A definition is given for local mode-in-state participation factors for smooth nonlinear autonomous systems. While the definition is general, the resulting measures depend on the assumed uncertainty law governing the system initial condition, as in the linear case. The work follows Hashlamoun et al. (IEEE Trans Autom Control 54(7):1439–1449 2009) in taking a mathematical expectation (or set-theoretic average) of a modal contribution measure over an uncertain set of system initial state. Poincaré linearization is used to replace the nonlinear system with a locally equivalent linear system. It is found that under a symmetry assumption on the distribution of the initial state, the tractable calculation and analytical formula for mode-in-state participation factors found for the linear case persists to the nonlinear setting. This paper is dedicated to the memory of Professor Ali H. Nayfeh.

Influence of Clearances and Thermal Effects on the Dynamic Behavior of Gear-Hydrodynamic Journal Bearing Systems

2013 ◽  
Vol 135 (6) ◽  
Author(s):  
R. Fargère ◽  
P. Velex
Keyword(s):  
Degrees Of Freedom ◽  
Integration Scheme ◽  
Time Step ◽  
Specific Element ◽  
Normal Contact ◽  
Contact Algorithm ◽  
Gear Teeth ◽  
Proposed Model ◽  
Elastic Couplings ◽  
Definition Of

A global model of mechanical transmissions is introduced which deals with most of the possible interactions between gears, shafts, and hydrodynamic journal bearings. A specific element for wide-faced gears with nonlinear time-varying mesh stiffness and tooth shape deviations is combined with shaft finite elements, whereas the bearing contributions are introduced based on the direct solution of Reynolds' equation. Because of the large bearing clearances, particular attention has been paid to the definition of the degrees-of-freedom and their datum. Solutions are derived by combining a time step integration scheme, a Newton–Raphson method, and a normal contact algorithm in such a way that the contact conditions in the bearings and on the gear teeth are simultaneously dealt with. A series of comparisons with the experimental results obtained on a test rig are given which prove that the proposed model is sound. Finally, a number of results are presented which show that parameters often discarded in global models such as the location of the oil inlet area, the oil temperature in the bearings, the clearance/elastic couplings interactions, etc. can be influential on static and dynamic tooth loading.

Dynamic Simulation of Blood Flow Effects on Flexible Manipulators During Intra-Cardiac Procedures on the Beating Heart

2011 ◽  
Author(s):  
A. Salimi ◽  
J. Mohammadpour ◽  
K. Grigoriadis ◽  
N. V. Tsekos
Keyword(s):  
Blood Flow ◽  
Degrees Of Freedom ◽  
Beating Heart ◽  
Flexible Manipulator ◽  
External Disturbances ◽  
Actuation System ◽  
Cardiac Procedures ◽  
Rigid Body Model ◽  
Flow Effects ◽  
Valve Implantation

In this paper, we develop a numerical mixed flexible-rigid body model to take into account the effects of the external disturbances acting on a flexible manipulator secondary to the oscillatory transmitral blood flow in the left ventricle. The manipulator is made of a flexible rubber-like material to further extend the surgical robotic-based catheters’ degrees of freedom and steer-ability in beating-heart prosthetic aortic valve implantation procedure. Along with the developed numerical model, a detailed description of the catheter’s mechanical architecture and the actuation system is also provided. Necessity of employing such a model for the designed system is clearly justified using simulation studies.

Analytical Model for Rockfall Protection Galleries - a Blind Prediction of Test Results and Conclusion

2011 ◽  
Vol 82 ◽  
pp. 722-727 ◽  
Author(s):  
Kristian Schellenberg ◽  
Norimitsu Kishi ◽  
Hisashi Kon-No
Keyword(s):  
Degrees Of Freedom ◽  
Large Scale ◽  
Test Results ◽  
Blind Prediction ◽  
Proposed Model ◽  
Input Parameters ◽  
Scale Test ◽  
Definition Of ◽  
Protective Structures ◽  
Cushion Layer

A system of multiple degrees of freedom composed out of three masses and three springs has been presented in 2008 for analyzing rockfall impacts on protective structures covered by a cushion layer. The model has then been used for a blind prediction of a large-scale test carried out in Sapporo, Japan, in November 2009. The test results showed substantial deviations from the blind predictions, which led to a deeper evaluation of the model input parameters showing a significant influence of the modeling properties for the cushion layer on the overall results. The cushion properties include also assumptions for the loading geometry and the definition of the parameters can be challenging. This paper introduces the test setup and the selected parameters in the proposed model for the blind prediction. After comparison with the test results, adjustments in the input parameters in order to match the test results have been evaluated. Conclusions for the application of the model as well as for further model improvements are drawn.

On the Dynamic Isotropy of Mechanisms With Two Degrees of Freedom

2005 ◽  
Author(s):  
Raffaele Di Gregorio ◽  
Alessandro Cammarata ◽  
Rosario Sinatra
Keyword(s):  
Finite Number ◽  
Degrees Of Freedom ◽  
Point Of View ◽  
Closed Curves ◽  
Special Cases ◽  
Dynamic Performances ◽  
Definition Of ◽  
Geometric Locus

The comparison of mechanisms with different topology or with different geometry, but with the same topology, is a necessary operation during the design of a machine sized for a given task. Therefore, tools that evaluate the dynamic performances of a mechanism are welcomed. This paper deals with the dynamic isotropy of 2-dof mechanisms starting from the definition introduced in a previous paper. In particular, starting from the condition that identifies the dynamically isotropic configurations, it shows that, provided some special cases are not considered, 2-dof mechanisms have at most a finite number of isotropic configurations. Moreover, it shows that, provided the dynamically isotropic configurations are excluded, the geometric locus of the configuration space that collects the points associated to configurations with the same dynamic isotropy is constituted by closed curves. This results will allow the classification of 2-dof mechanisms from the dynamic-isotropy point of view, and the definition of some methodologies for the characterization of the dynamic isotropy of these mechanisms. Finally, examples of applications of the obtained results will be given.

scholarly journals Convex skeletons of complex networks

2018 ◽  
Vol 15 (145) ◽  
pp. 20180422 ◽  
Author(s):  
Lovro Šubelj
Keyword(s):  
Protein Interactions ◽  
Spanning Tree ◽  
Autonomous Systems ◽  
Shortest Paths ◽  
Induced Subgraph ◽  
Social Collaboration ◽  
Computer Scientists ◽  
High Betweenness ◽  
Network Backbone ◽  
Definition Of

A convex network can be defined as a network such that every connected induced subgraph includes all the shortest paths between its nodes. A fully convex network would therefore be a collection of cliques stitched together in a tree. In this paper, we study the largest high-convexity part of empirical networks obtained by removing the least number of edges, which we call a convex skeleton. A convex skeleton is a generalization of a network spanning tree in which each edge can be replaced by a clique of arbitrary size. We present different approaches for extracting convex skeletons and apply them to social collaboration and protein interactions networks, autonomous systems graphs and food webs. We show that the extracted convex skeletons retain the degree distribution, clustering, connectivity, distances, node position and also community structure, while making the shortest paths between the nodes largely unique. Moreover, in the Slovenian computer scientists coauthorship network, a convex skeleton retains the strongest ties between the authors, differently from a spanning tree or high-betweenness backbone and high-salience skeleton. A convex skeleton thus represents a simple definition of a network backbone with applications in coauthorship and other social collaboration networks.

Updating of Finite Element Models Based on a Double Condensation Procedure Using Frequency Response Functions Data

1995 ◽  
Author(s):  
Rémi Berriet ◽  
René Fillod ◽  
Noureddine Bouhaddi
Keyword(s):  
Frequency Response ◽  
Degrees Of Freedom ◽  
Noise Pollution ◽  
Test Case ◽  
Response Functions ◽  
Frequency Response Functions ◽  
Measured Frequency ◽  
Modal Damping ◽  
Applied Forces ◽  
Definition Of

Abstract In order to take into account information from test data, not only at the resonances, but also in the other parts of the measured frequency spectrum, it is of interest to use directly measured Frequency Response Functions (FRF) instead of modal data. We also avoid by this way an experimental modal analysis. In return we have to introduce damping terms into the analytical model, we have to weight the FRF data in a systematic manner and to compute simultaneously a large amount of data. The presented procedure analyses overall these three aspects: definition of modal damping parameters, definition of weighted FRF data and condensation of the problem. This last notion is particularly pointed out. The condensation is performed in two steps : a static condensation of the model on the degrees of freedom corresponding to the location of the sensors, and a simultaneous condensation of experimental and analytical FRF data by a common transformation matrix. The first applications are performed on a simulated test case with large stiffness, mass and modal damping perturbations introduced in the initial model as well as strong noise pollution of measured responses and applied forces.

Real-Time Planning and Nonlinear Control for Quadrupedal Locomotion With Articulated Tails

2021 ◽  
Vol 143 (7) ◽  
Author(s):  
Randall T. Fawcett ◽  
Abhishek Pandala ◽  
Jeeseop Kim ◽  
Kaveh Akbari Hamed
Keyword(s):  
Real Time ◽  
Degrees Of Freedom ◽  
Center Of Mass ◽  
Hierarchical Control ◽  
Nonlinear Feedback ◽  
Nonlinear Controller ◽  
External Disturbances ◽  
Quadrupedal Locomotion ◽  
Control Scheme ◽  
High Level

Abstract The primary goal of this paper is to develop a formal foundation to design nonlinear feedback control algorithms that intrinsically couple legged robots with bio-inspired tails for robust locomotion in the presence of external disturbances. We present a hierarchical control scheme in which a high-level and real-time path planner, based on an event-based model predictive control (MPC), computes the optimal motion of the center of mass (COM) and tail trajectories. The MPC framework is developed for an innovative reduced-order linear inverted pendulum (LIP) model that is augmented with the tail dynamics. At the lower level of the control scheme, a nonlinear controller is implemented through the use of quadratic programming (QP) and virtual constraints to force the full-order dynamical model to track the prescribed optimal trajectories of the COM and tail while maintaining feasible ground reaction forces at the leg ends. The potential of the analytical results is numerically verified on a full-order simulation model of a quadrupedal robot augmented with a tail with a total of 20 degrees-of-freedom. The numerical studies demonstrate that the proposed control scheme coupled with the tail dynamics can significantly reduce the effect of external disturbances during quadrupedal locomotion.

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