Search results
1 – 10 of 35Rui Lin, Qiguan Wang, Xin Yang and Jianwen Huo
In complex environments, a spherical robot has great application value. When the pendulum spherical robot is stopped or disturbed, there will be a periodic oscillation. This…
Abstract
Purpose
In complex environments, a spherical robot has great application value. When the pendulum spherical robot is stopped or disturbed, there will be a periodic oscillation. This situation will seriously affect the stability of the spherical robot. Therefore, this paper aims to propose a control method based on backstepping and disturbance observers for oscillation suppression.
Design/methodology/approach
This paper analyzes the mechanism of oscillation. The oscillation model of the spherical robot is constructed and the relationship between the oscillation and the internal structure of the sphere is analyzed. Based on the oscillation model, the authors design the oscillation suppression control of the spherical robot using the backstepping method. At the same time, a disturbance observer is added to suppress the disturbance.
Findings
It is found that the control system based on backstepping and disturbance observer is simple and efficient for nonlinear models. Compared with the PID controller commonly used in engineering, this control method has a better control effect.
Practical implications
The proposed method can provide a reliable and effective stability scheme for spherical robots. The problem of instability in real motion is solved.
Originality/value
In this paper, the oscillation model of a spherical robot is innovatively constructed. Second, a new backstepping control method combined with a disturbance observer for the spherical robot is proposed to suppress the oscillation.
Details
Keywords
Bikesh Manandhar, Thanh-Canh Huynh, Pawan Kumar Bhattarai, Suchita Shrestha and Ananta Man Singh Pradhan
This research is aimed at preparing landslide susceptibility using spatial analysis and soft computing machine learning techniques based on convolutional neural networks (CNNs)…
Abstract
Purpose
This research is aimed at preparing landslide susceptibility using spatial analysis and soft computing machine learning techniques based on convolutional neural networks (CNNs), artificial neural networks (ANNs) and logistic regression (LR) models.
Design/methodology/approach
Using the Geographical Information System (GIS), a spatial database including topographic, hydrologic, geological and landuse data is created for the study area. The data are randomly divided between a training set (70%), a validation (10%) and a test set (20%).
Findings
The validation findings demonstrate that the CNN model (has an 89% success rate and an 84% prediction rate). The ANN model (with an 84% success rate and an 81% prediction rate) predicts landslides better than the LR model (with a success rate of 82% and a prediction rate of 79%). In comparison, the CNN proves to be more accurate than the logistic regression and is utilized for final susceptibility.
Research limitations/implications
Land cover data and geological data are limited in largescale, making it challenging to develop accurate and comprehensive susceptibility maps.
Practical implications
It helps to identify areas with a higher likelihood of experiencing landslides. This information is crucial for assessing the risk posed to human lives, infrastructure and properties in these areas. It allows authorities and stakeholders to prioritize risk management efforts and allocate resources more effectively.
Social implications
The social implications of a landslide susceptibility map are profound, as it provides vital information for disaster preparedness, risk mitigation and landuse planning. Communities can utilize these maps to identify vulnerable areas, implement zoning regulations and develop evacuation plans, ultimately safeguarding lives and property. Additionally, access to such information promotes public awareness and education about landslide risks, fostering a proactive approach to disaster management. However, reliance solely on these maps may also create a false sense of security, necessitating continuous updates and integration with other risk assessment measures to ensure effective disaster resilience strategies are in place.
Originality/value
Landslide susceptibility mapping provides a proactive approach to identifying areas at higher risk of landslides before any significant events occur. Researchers continually explore new data sources, modeling techniques and validation approaches, leading to a better understanding of landslide dynamics and susceptibility factors.
Details
Keywords
Mahmoud Taban and Alireza Basohbat Novinzadeh
One of the challenges encountered in the design of guided projectiles is their prohibitive cost. To diminish it, an appropriate avenue many researchers have explored is the use of…
Abstract
Purpose
One of the challenges encountered in the design of guided projectiles is their prohibitive cost. To diminish it, an appropriate avenue many researchers have explored is the use of the non-actuator method for guiding the projectile to the target. In this method, biologically inspired by the flying concept of the single-winged seed, for instance, that of maple and ash trees, the projectile undergoes a helical motion to scan the region and meet the target in the descent phase. Indeed, the projectile is a decelerator device based on the autorotation flight while it attempts to resemble the seed’s motion using two wings of different spans. There exists a wealth of studies on the stability of the decelerators (e.g. the mono-wing, samara and pararotor), but all of them have assumed the body (exclusive of the wing) to be symmetric and paid no particular attention to the scanning quality of the region. In practice, however, the non-actuator-guided projectiles are asymmetric owing to the presence of detection sensors. This paper aims to present an analytical solution for stability analysis of asymmetric decelerators and apprise the effects of design parameters to improve the scanning quality.
Design/methodology/approach
The approach of this study is to develop a theoretical model consisting of Euler equations and apply a set of non-dimensionalized equations to reduce the number of involved parameters. The obtained governing equations are readily applicable to other decelerator devices, such as the mono-wing, samara and pararotor.
Findings
The results show that the stability of the body can be preserved under certain conditions. Moreover, pertinent conclusions are outlined on the sensitivity of flight behavior to the variation of design parameters.
Originality/value
The analytical solution and sensitivity analysis presented here can efficiently reduce the design cost of the asymmetric decelerator.
Details
Keywords
Weiqiang Xue, Jingfeng Shen and Yawen Fan
The transient loads on the spherical hybrid sliding bearings (SHSBs) rotor system during the process of accelerating to stable speed are related to time, which exhibits a complex…
Abstract
Purpose
The transient loads on the spherical hybrid sliding bearings (SHSBs) rotor system during the process of accelerating to stable speed are related to time, which exhibits a complex transient response of the rotor dynamics. The current study of the shaft center trajectory of the SHSBs rotor system is based on the assumption that the rotational speed is constant, which cannot truly reflect the trajectory of the rotor during operation. The purpose of this paper truly reflects the trajectory of the rotor and further investigates the stability of the rotor system during acceleration of SHSBs.
Design/methodology/approach
The model for accelerated rotor dynamics of SHSBs is established. The model is efficiently solved based on the fourth-order Runge–Kutta method and then to obtain the shaft center trajectory of the rotor during acceleration.
Findings
Results show that the bearing should choose larger angular acceleration in the acceleration process from startup to the working speed; rotor system is more stable. With the target rotational speed increasing, the changes in the shaft trajectory of the acceleration process are becoming more complex, resulting in more time required for the bearing stability. When considering the stability of the rotor system during acceleration, the rotor equations of motion provide a feasible solution for the simulation of bearing rotor system.
Originality/value
The study can simulate the running stability of the shaft system from startup to the working speed in this process, which provides theoretical guidance for the stability of the rotor system of the SHSBs in the acceleration process.
Details
Keywords
This paper focuses on the application of a robotic technique for modeling a three-wheeled mobile robot (WMR), considering it as a multibody polyarticulated system. Then the…
Abstract
Purpose
This paper focuses on the application of a robotic technique for modeling a three-wheeled mobile robot (WMR), considering it as a multibody polyarticulated system. Then the dynamic behavior of the developed model is verified using a physical model obtained by Simscape Multibody.
Design/methodology/approach
Firstly, a geometric model is developed using the modified Denavit–Hartenberg method. Then the dynamic model is derived using the algorithm of Newton–Euler. The developed model is performed for a three-wheeled differentially driven robot, which incorporates the slippage of wheels by including the Kiencke tire model to take into account the interaction of wheels with the ground. For the physical model, the mobile robot is designed using Solidworks. Then it is exported to Matlab using Simscape Multibody. The control of the WMR for both models is realized using Matlab/Simulink and aims to ensure efficient tracking of the desired trajectory.
Findings
Simulation results show a good similarity between the two models and verify both longitudinal and lateral behaviors of the WMR. This demonstrates the effectiveness of the developed model using the robotic approach and proves that it is sufficiently precise for the design of control schemes.
Originality/value
The motivation to adopt this robotic approach compared to conventional methods is the fact that it makes it possible to obtain models with a reduced number of operations. Furthermore, it allows the facility of implementation by numerical or symbolical programming. This work serves as a reference link for extending this methodology to other types of mobile robots.
Details
Keywords
Jinsong Zhang, Xinlong Wang, Chen Yang, Mingkang Sun and Zhenwei Huang
This study aims to investigate the noise-inducing characteristics during the start-up process of a mixed-flow pump and the impact of different start-up schemes on pump noise.
Abstract
Purpose
This study aims to investigate the noise-inducing characteristics during the start-up process of a mixed-flow pump and the impact of different start-up schemes on pump noise.
Design/methodology/approach
This study conducted numerical simulations on the mixed-flow pump under different start-up schemes and investigated the flow characteristics and noise distribution under these schemes.
Findings
The results reveal that the dipole noise is mainly caused by pressure fluctuations, while the quadrupole noise is mainly generated by the generation, development and breakdown of vortices. Additionally, the noise evolution characteristics during the start-up process of the mixed-flow pump can be divided into the initial stage, stable growth stage, impulse stage and stable operation stage.
Originality/value
The findings of this study can provide a theoretical basis for the selection of start-up schemes for mixed-flow pumps, reducing flow noise and improving the operational stability of mixed-flow pumps.
Details
Keywords
Ashish Bhatt and Shripad P. Mahulikar
Aero-engine exhaust plume length can be more than the aircraft length, making it easier to detect and track by infrared seeker. Aim of this study is to analyze the effect of free…
Abstract
Purpose
Aero-engine exhaust plume length can be more than the aircraft length, making it easier to detect and track by infrared seeker. Aim of this study is to analyze the effect of free stream Mach number (M∞) on length of potential core of plume. Also, change in infrared (IR) signature of plume and aircraft surface with variation in elevation angle (θ) is examined.
Design/methodology/approach
Convergent divergent (CD) nozzle is located outside the rear fuselage of the aircraft. A two dimensional axisymmetric computational fluid dynamics (CFD) study was carried out to study effect of M∞ on potential core. The CFD data with aircraft and plume was then used for IR signature analysis. The sensor position is changed with respect to aircraft from directly bottom towards frontal section of aircraft. The IR signature is studied in mid wave IR (MWIR) and long wave IR (LWIR) band.
Findings
The potential plume core length and width increases as M∞ increases. At higher altitudes, the potential core length increases for a fixed M∞. The plume emits radiation in the MWIR band, whereas the aerodynamically heated aircraft surface emits IR in the LWIR band. The IR signature in the MWIR band continuously decreases as the sensor position changes from directly bottom towards frontal. In the LWIR band the IR signature initially decreases as the sensor moves from the directly bottom to the frontal, as the sensor begins to see the wing leading edges and nose cone, the IR signature in the LWIR band slightly increases.
Originality/value
The novelty of this study comes from the data reported on the effect of free stream Mach number on the potential plume core and variation of the overall IR signature of aircraft with change in elevation angle from directly below towards frontal section of aircraft.
Details
Keywords
Jiahao Jiang, Jinliang Liu, Shuolei Cao, Sheng Cao, Rui Dong and Yusen Wu
The purpose of this study is to use the corrected stress field theory to derive the shear capacity of geopolymer concrete beams (GPC) and consider the shear-span ratio as a major…
Abstract
Purpose
The purpose of this study is to use the corrected stress field theory to derive the shear capacity of geopolymer concrete beams (GPC) and consider the shear-span ratio as a major factor affecting the shear capacity. This research aims to provide guidance for studying the shear capacity of GPC and to observe how the failure modes of beams change with the variation of the shear-span ratio, thereby discovering underlying patterns.
Design/methodology/approach
Three test beams with shear span ratios of 1.5, 2.0 and 2.5 are investigated in this paper. For GPC beams with shear-span ratios of 1.5, 2.0 and 2.5, ultimate capacities are 337kN, 235kN and 195kN, respectively. Transitioning from 1.5 to 2.0 results in a 30% decrease in capacity, a reduction of 102kN. Moving from 2.0 to 2.5 sees a 17% decrease, with a loss of 40KN in capacity. A shear capacity formula, derived from modified compression field theory and considering concrete shear strength, stirrups and aggregate interlocking force, was validated through finite element modeling. Additionally, models with shear ratios of 1 and 3 were created to observe crack propagation patterns.
Findings
For GPC beams with shear-span ratios of 1.5, 2.0 and 2.5, ultimate capacities of 337KN, 235KN and 195KN are achieved, respectively. A reduction in capacity of 102KN occurs when transitioning from 1.5 to 2.0 and a decrease of 40KN is observed when moving from 2.0 to 2.5. The average test-to-theory ratio, at 1.015 with a variance of 0.001, demonstrates strong agreement. ABAQUS models beams with ratios ranging from 1.0 to 3.0, revealing crack trends indicative of reduced crack angles with higher ratios. The failure mode observed in the models aligns with experimental results.
Originality/value
This article provides a reference for the shear bearing capacity formula of geopolymer reinforced concrete (GRC) beams, addressing the limited research in this area. Additionally, an exponential model incorporating the shear-span ratio as a variable was employed to calculate the shear capacity, based on previous studies. Moreover, the analysis of shear capacity results integrated literature from prior research. By fitting previous experimental data to the proposed formula, the accuracy of this study's derived formula was further validated, with theoretical values aligning well with experimental results. Additionally, guidance is offered for utilizing ABAQUS in simulating the failure process of GRC beams.
Details
Keywords
To provide high torques needed to move a robot’s links, electric actuators are followed by a transmission system with a high transmission rate. For instance, gear ratios of 100:1…
Abstract
Purpose
To provide high torques needed to move a robot’s links, electric actuators are followed by a transmission system with a high transmission rate. For instance, gear ratios of 100:1 are often used in the joints of a robotic manipulator. This results into an actuator with large mechanical impedance (also known as nonback-drivable actuator). This in turn generates high contact forces when collision of the robotic mechanism occur and can cause humans’ injury. Another disadvantage of electric actuators is that they can exhibit overheating when constant torques have to be provided. Comparing to electric actuators, pneumatic actuators have promising properties for robotic applications, due to their low weight, simple mechanical design, low cost and good power-to-weight ratio. Electropneumatically actuated robots usually have better friction properties. Moreover, because of low mechanical impedance, pneumatic robots can provide moderate interaction forces which is important for robotic surgery and rehabilitation tasks. Pneumatic actuators are also well suited for exoskeleton robots. Actuation in exoskeletons should have a fast and accurate response. While electric motors come against high mechanical impedance and the risk of causing injuries, pneumatic actuators exhibit forces and torques which stay within moderate variation ranges. Besides, unlike direct current electric motors, pneumatic actuators have an improved weight-to-power ratio and avoid overheating problems.
Design/methodology/approach
The aim of this paper is to analyze a nonlinear optimal control method for electropneumatically actuated robots. A two-link robotic exoskeleton with electropneumatic actuators is considered as a case study. The associated nonlinear and multivariable state-space model is formulated and its differential flatness properties are proven. The dynamic model of the electropneumatic robot is linearized at each sampling instance with the use of first-order Taylor series expansion and through the computation of the associated Jacobian matrices. Within each sampling period, the time-varying linearization point is defined by the present value of the robot’s state vector and by the last sampled value of the control inputs vector. An H-infinity controller is designed for the linearized model of the robot aiming at solving the related optimal control problem under model uncertainties and external perturbations. An algebraic Riccati equation is solved at each time-step of the control method to obtain the stabilizing feedback gains of the H-infinity controller. Through Lyapunov stability analysis, it is proven that the robot’s control scheme satisfies the H-infinity tracking performance conditions which indicate the robustness properties of the control method. Moreover, global asymptotic stability is proven for the control loop. The method achieves fast convergence of the robot’s state variables to the associated reference trajectories, and despite strong nonlinearities in the robot’s dynamics, it keeps moderate the variations of the control inputs.
Findings
In this paper, a novel solution has been proposed for the nonlinear optimal control problem of robotic exoskeletons with electropneumatic actuators. As a case study, the dynamic model of a two-link lower-limb robotic exoskeleton with electropneumatic actuators has been considered. The dynamic model of this robotic system undergoes first approximate linearization at each iteration of the control algorithm around a temporary operating point. Within each sampling period, this linearization point is defined by the present value of the robot’s state vector and by the last sampled value of the control inputs vector. The linearization process relies on first-order Taylor series expansion and on the computation of the associated Jacobian matrices. The modeling error which is due to the truncation of higher-order terms from the Taylor series is considered to be a perturbation which is asymptotically compensated by the robustness of the control algorithm. To stabilize the dynamics of the electropneumatically actuated robot and to achieve precise tracking of reference setpoints, an H-infinity (optimal) feedback controller is designed. Actually, the proposed H-infinity controller for the model of the two-link electropneumatically actuated exoskeleton achieves the solution of the associated optimal control problem under model uncertainty and external disturbances. This controller implements a min-max differential game taking place between: (i) the control inputs which try to minimize a cost function which comprises a quadratic term of the state vector’s tracking error and (ii) the model uncertainty and perturbation inputs which try to maximize this cost function. To select the stabilizing feedback gains of this H-infinity controller, an algebraic Riccati equation is being repetitively solved at each time-step of the control method. The global stability properties of the H-infinity control scheme are proven through Lyapunov analysis.
Research limitations/implications
Pneumatic actuators are characterized by high nonlinearities which are due to air compressibility, thermodynamics and valves behavior and thus pneumatic robots require elaborated nonlinear control schemes to ensure their fast and precise positioning. Among the control methods which have been applied to pneumatic robots, one can distinguish differential geometric approaches (Lie algebra-based control, differential flatness theory-based control, nonlinear model predictive control [NMPC], sliding-mode control, backstepping control and multiple models-based fuzzy control). Treating nonlinearities and fault tolerance issues in the control problem of robotic manipulators with electropneumatic actuators has been a nontrivial task.
Practical implications
The novelty of the proposed control method is outlined as follows: preceding results on the use of H-infinity control to nonlinear dynamical systems were limited to the case of affine-in-the-input systems with drift-only dynamics. These results considered that the control inputs gain matrix is not dependent on the values of the system’s state vector. Moreover, in these approaches the linearization was performed around points of the desirable trajectory, whereas in the present paper’s control method the linearization points are related with the value of the state vector at each sampling instance as well as with the last sampled value of the control inputs vector. The Riccati equation which has been proposed for computing the feedback gains of the controller is novel, so is the presented global stability proof through Lyapunov analysis. This paper’s scientific contribution is summarized as follows: (i) the presented nonlinear optimal control method has improved or equally satisfactory performance when compared against other nonlinear control schemes that one can consider for the dynamic model of robots with electropneumatic actuators (such as Lie algebra-based control, differential flatness theory-based control, nonlinear model-based predictive control, sliding-mode control and backstepping control), (ii) it achieves fast and accurate tracking of all reference setpoints, (iii) despite strong nonlinearities in the dynamic model of the robot, it keeps moderate the variations of the control inputs and (iv) unlike the aforementioned alternative control approaches, this paper’s method is the only one that achieves solution of the optimal control problem for electropneumatic robots.
Social implications
The use of electropneumatic actuation in robots exhibits certain advantages. These can be the improved weight-to-power ratio, the lower mechanical impedance and the avoidance of overheating. At the same time, precise positioning and accurate execution of tasks by electropneumatic robots requires the application of elaborated nonlinear control methods. In this paper, a new nonlinear optimal control method has been developed for electropneumatically actuated robots and has been specifically applied to the dynamic model of a two-link robotic exoskeleton. The benefit from using this paper’s results in industrial and biomedical applications is apparent.
Originality/value
A comparison of the proposed nonlinear optimal (H-infinity) control method against other linear and nonlinear control schemes for electropneumatically actuated robots shows the following: (1) Unlike global linearization-based control approaches, such as Lie algebra-based control and differential flatness theory-based control, the optimal control approach does not rely on complicated transformations (diffeomorphisms) of the system’s state variables. Besides, the computed control inputs are applied directly on the initial nonlinear model of the electropneumatic robot and not on its linearized equivalent. The inverse transformations which are met in global linearization-based control are avoided and consequently one does not come against the related singularity problems. (2) Unlike model predictive control (MPC) and NMPC, the proposed control method is of proven global stability. It is known that MPC is a linear control approach that if applied to the nonlinear dynamics of the electropneumatic robot, the stability of the control loop will be lost. Besides, in NMPC the convergence of its iterative search for an optimum depends on initialization and parameter values selection and consequently the global stability of this control method cannot be always assured. (3) Unlike sliding-mode control and backstepping control, the proposed optimal control method does not require the state-space description of the system to be found in a specific form. About sliding-mode control, it is known that when the controlled system is not found in the input-output linearized form the definition of the sliding surface can be an intuitive procedure. About backstepping control, it is known that it cannot be directly applied to a dynamical system if the related state-space model is not found in the triangular (backstepping integral) form. (4) Unlike PID control, the proposed nonlinear optimal control method is of proven global stability, the selection of the controller’s parameters does not rely on a heuristic tuning procedure, and the stability of the control loop is assured in the case of changes of operating points. (5) Unlike multiple local models-based control, the nonlinear optimal control method uses only one linearization point and needs the solution of only one Riccati equation so as to compute the stabilizing feedback gains of the controller. Consequently, in terms of computation load the proposed control method for the electropneumatic actuator’s dynamics is much more efficient.
Details
Keywords
Pablo Guillén, Hector Sarnago, Oscar Lucia and José M. Burdio
The purpose of this paper is to develop a load detection method for domestic induction cooktops. The solution aims to minimize its impact in the converter power transmission while…
Abstract
Purpose
The purpose of this paper is to develop a load detection method for domestic induction cooktops. The solution aims to minimize its impact in the converter power transmission while enabling the estimation of the equivalent electrical parameters of the load. This method is suitable for a multi-output resonant inverter topology with shared power devices.
Design/methodology/approach
The considered multi-output converter presents power devices that are shared between several loads. Thus, applying load detection methods in the literature requires a halt in the power transfer to ensuring safe operation. The proposed method uses a complementary short-voltage pulse to excite the induction heating (IH) coil without stopping the power transfer to the remaining IH loads. With the current through the coil and the analytical equations, the equivalent inductance and resistance of the load is estimated. The precision of the method has been evaluated by simulation, and experimental results are provided.
Findings
The measurement of the current through the induction coil as a response to a short-time single-pulse voltage variation provides enough information to estimate the load equivalent parameters, allowing to differentiate between no-load, non-suitable IH load and suitable IH load situations.
Originality/value
The proposed method provides a solution for load detection without requiring additional circuitry. It aims for low power transmission to the load and ensures zero-voltage switching and reduced peak current even in no-load cases. Moreover, the proposed solution is extensible to less complex converters, as the half bridge.
Details