Lower limb exoskeleton robots’ dynamics parameters identification based on improved beetle swarm optimization algorithm

Efficient and high-precision identification of dynamic parameters is the basis of model-based robot control. Firstly, this paper designed the structure and control system of the developed lower extremity exoskeleton robot. The dynamics modeling of the exoskeleton robot is performed. The minimum parameter set of the identified parameters is determined. The dynamic model is linearized based on the parallel axis theory. Based on the beetle antennae search algorithm (BAS) and particle swarm optimization (PSO), the beetle swarm optimization algorithm (BSO) was designed and applied to the identification of dynamic parameters. The update rule of each particle originates from BAS, and there is an individual’s judgment on the environment space in each iteration. This method does not rely on the historical best solution in the PSO and the current global optimal solution of the individual particle, thereby reducing the number of iterations and improving the search speed and accuracy. Four groups of test functions with different characteristics were used to verify the performance of the proposed algorithm. Experimental results show that the BSO algorithm has a good balance between exploration and exploitation capabilities to promote the beetle to move to the global optimum. Besides, the test was carried out on the exoskeleton dynamics model. This method can obtain independent dynamic parameters and achieve ideal identification accuracy. The prediction result of torque based on the identification method is in good agreement with the ideal torque of the robot control.

Application of MEMS accelerometer of smartphones to define natural frequencies and damping ratios obtained from concrete viaducts and footbridge

The continuous development of smartphones has garnered considered research attention owing to the possibility of its use in different engineering applications. MEMS accelerometers available on smartphones are useful for structural health monitoring. This study is aimed at determining the use of smartphones in the calibration and correction of the sampling rate for natural frequency and damping identification. Three concrete bridges were used in the case studies. The results indicate that smartphones can be used to understand some dynamic parameters.

A New Method for Identifying Kinetic Parameters of Industrial Robots

Identifying the kinetic parameters of an industrial robot is the basis for designing a controller for it. To solve the problems of the poor accuracy and easy premature convergence of common bionic algorithms for identifying the dynamic parameters of such robots, this study proposed simulated annealing with similar exponential changes based on the beetle swarm optimization (SEDSABSO) algorithm. Expressions for the dynamics of the industrial robot were first obtained through the SymPyBotics toolkit in Python, and the required trajectories of excitation were then designed to identify its dynamic parameters. Following this, the search pattern of the global optimal solution for the beetle swarm optimization algorithm was improved in the context of solving for these parameters. The global convergence of the algorithm was improved by improving the iterative form of the number N of skinks in it by considering random perturbations and the simulated annealing algorithm, whereas its accuracy of convergence was improved through the class exponential change model. The improved beetle swarm optimization algorithm was used to identify the kinetic parameters of the Zhichang Kawasaki RS010N industrial robot. The results of experiments showed that the proposed algorithm was fast and highly accurate in identifying the kinetic parameters of the industrial robot.

Estimation of the Dynamic Parameters of the Bearings in a Flexible Rotor System Utilizing Electromagnetic Excitation by a Built-In Motor

Estimation of the dynamic parameters of bearings is essential in order to be able to interpret the performance of rotating machinery. In this paper, we propose a method to estimate the dynamic parameters of the bearings in a flexible rotor system. By utilizing the electromagnetic excitation generated by a built-in PM motor and finite element (FE) modeling of the rotor, safe, low-cost, and real-time monitoring of the bearing dynamics can be achieved. The radial excitation force is generated by injecting an alternating d-axis current into the motor windings. The FE model of the rotor and the measured frequency responses at the motor and bearing locations are used to estimate the dynamic parameters of the bearings. To evaluate the feasibility of the proposed method, numerical simulation and experiments were carried out on a flexible rotor system combined with a bearingless motor (BELM) having both motor windings and suspension windings. The numerical simulation results show that the proposed algorithm can accurately estimate the dynamic parameters of the bearings. In the experiment, the estimates made when utilizing the excitation force generated by the motor windings are compared with the estimates made when utilizing the excitation force generated by the suspension windings. The results show that most of the stiffness and damping coefficients for the two experiments are in good agreement, within a maximum error of 8.92%. The errors for some coefficients are large because the base values of these coefficients are small in our test rig, so these coefficients are sensitive to deviations. The natural frequencies calculated from the dynamic parameters estimated from the two experiments are also in good agreement, within a maximum relative error of 3.04%. The proposed method is effective and feasible for turbomachines directly connected to motors, which is highly significant for field tests.

INVESTIGATION OF EFFECT OF USING NANO COATING ON WOODEN SHEDS ON DYNAMIC PARAMETERS

In this article, the dynamic parameters (frequencies, mode shapes, damping ratios) of the uncoated wooden shed and the coated by silicon dioxide are compared using the operational modal analysis method. Ambient excitation was provided from micro tremor ambient vibration data on ground level. Enhanced frequency domain decomposition (EFDD) was used for output. Very best correlation was found between mode shapes. Nano-SiO2 gel applied to the entire outer surface of the red oak shed has an average of 14.54% difference in frequency values and 13.53% in damping ratios, proving that nanomaterials can be used to increase internal rigidity in wooden slabs. High adherence of silicon dioxide to wooden surfaces was observed as another important result of this study.

Some psychophysiological parameters of a person during a passive orthostatic test

The study involved 14 volunteer students. Situational anxiety was determined, tests were carried out to determine simple and complex sensorimotor reactions, the cardiac rhythm of the subjects was recorded. Oxygen saturation was determined using an oximeter. Dynamic parameters were recorded: lying in a state of functional rest (background 1), vertical at 65-70° (vertical), lying after verticalization (horizontal), lying in a state of functional rest (background 2). The analysis of the data obtained was carried out using the Excel and StatPlus Pro programs. It was revealed that during verticalization, changes in the regulation of the heart activity of the subjects are carried out mainly due to the central mechanisms of regulation through the sympathetic nervous system. The transfer from a vertical to a horizontal state is accompanied by a restructuring of the regulatory system towards the activation of subcortical nerve centers and a shift in the balance of the SNS/PSNS towards the parasympathetic nervous system. Key words: passive orthostatic test, cardiac rhythm, simple sensorimotor reaction.

Numerical Analysis of Particle Trajectories in a Gas–Powder Jet during the Laser-Based Directed Energy Deposition Process

Based on numerical solutions of the equation of motion of a particle in a gas jet modeled by the Reynolds-averaged Navier–Stokes equations, the features of transporting powder particles to the working zone of laser-based directed energy deposition are investigated. The propagation of a gas jet in a confined space in the presence of obstacles in the form of a substrate and a wall of a part is considered. A solution determining the gas-dynamic parameters of the jet is obtained, and the results of calculating its velocity field are presented. The influence of gas-dynamic parameters on the trajectories of the powder particles is analyzed. It is shown that these parameters determine the amount of model material involved in the formation of the geometry of the part.

Geomechanical parameters of sedimentary rocks of Southern Sakhalin

The samples of terrigenous rocks of the Sakhalin were selected for geomechanical studies: the rocks of the Nevelskaya and Kholmskaya Formations from the Petropavlovsk quarry; ones of the Kholmskaya Formation on the west coast of the south of Sakhalin, rocks of the Junonskaya Formation on the east coast. The Kholmskaya Formation N1hl is represented by siltstones and interlayers of fine-grained sandstone. The Nevelskaya Formation N1nv is represented by siltstones with inclusions of tufogenic material. The Junonskaya Formation T2-Jun is represented by variegated greyish-green jaspers. Their static and dynamic parameters (strength limits, static Young’s modulus and Poisson’s ratio, cohesion and angle of internal friction) were determined. The obtained results are characterized by a significant spread of values, which is likely explained by the significant fracturing of the initial samples and the effect of anisotropy.

Investigation of the dynamic parameters of electroluminescence in different parts of the spectrum in local regions of the light-emitting heterostructure

A method for measuring the distribution of the differential charge carriers lifetime over energy levels in the local regions of a light-emitting heterostructure is presented. The method has been tested on commercial green InGaN-based LEDs. It has been determined that with an increase in the energy level (with decreasing wavelength), the charge carriers lifetime decreases. It is shown that the relative inhomogeneity of the distribution of the charge carriers lifetimes in local regions of the die in the long-wavelength part of the electroluminescence spectrum is higher than in the short-wavelength part of the spectrum.