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A mathematical model for lift generation on a doughnut-shaped Coandă micro air vehicle is developed and an analysis on the lift generation due to Coandă effect is carried out utilizing basic principles. A degenerate two-dimensional case is also developed. The results are discussed in view of related analytical and experimental work in the literature.
This paper presents an analytical study of a simple mechatronic system, composed of an isotropic plate and an electric motor which excites dynamically the structure. The mathematical model is developed using an analytical method based on the Navier approach with the double Fourier series. This method allows determining the influence of various parameters and architectures on the response of the plate...
This paper deals with the optimal control of a self-reacting Wave Energy Converter (WEC) where the reaction force is obtained using a damping-plate. Model Predictive Control (MPC) is applied for unconstrained and constrained input control cases. Objective function attempting to optimise the power generation is directly formulated as an absorbed power maximisation problem and thus no optimal reference,...
The geometrically nonlinear vibrations and stability of piezo-laminated viscoelastic plate subjected to uniformly distributed tangential follower force are investigated utilizing Kirchoff's hypothesis and the two-dimensional viscoelastic differential constitutive relation. The von Ka′rman's large deflection equations for generally laminated viscoelastic plates subjected to uniformly distributed tangential...
Synthesis of a feedback control system for Coriolis vibratory gyroscopes that implements whole angle force rebalance mode of operation is presented in this paper. Feedback controller is derived in terms of demodulated signals. Successful operation of the control system is demonstrated using numerical simulation of realistic Coriolis vibratory gyroscopes model in modulated signals.
This paper describes the development of mathematical model with a pump and a relief proportional valve used to control the pressure of a hydraulic system. This system controls an accelerated pavement testing machine designed to simulate the fatigue of a road structure. The pressure control system was composed by an Anti-Windup PID.
In automotive clutch applications the use of purely electromagnetic actuators is not yet very common. Their dynamics are nonlinear and often subject to kinematic constraints. Therefore their accurate control is a challenging task. In this paper, a plant model of an electromagnetic clutch actuator is developed from the corresponding physical principles. On this basis, a position controller for the...
This paper presents the application of the lease-squares estimation technique in identification of the cable shovel parameters and monitoring its payload. A data acquisition system was installed on a P&H2100 cable shovel and logged the cable shovel data for several loading cycles. The payload was dynamically estimated using the simplified dynamic cable shovel model we developed. The accuracy and...
Reaction force estimation is the major challenge of surgical robotic procedures. In previous research, sliding mode control with sliding perturbation observer (SMCSPO) is used to estimate the reaction force in the sensor-less system. Moreover, a fuzzy-SPO method is also proposed to separate actual reaction force in presence of dynamic disturbances. However, in both those research, some physical constraints...
This paper proposes a reduction method of stochastic disturbance that is focused on haptic information in the micro space. Presently in the industry, haptic information is attracting attention as the tertiary media following audio and visual information. Haptic information has characteristics of bidirectionality and scaling that extended human ability by using master and slave robots. Especially,...
In earlier work it was recommended that accelerated tests, using elevated currents, be used to evaluate the performance of contact designs using materials that may be susceptible to electro-migration. This is necessary since it was found in earlier work that the type of self-diffusion in some cases had a major impact on time to failure. Since the type of diffusion is generally not known in advance,...
This paper proposes a motion-reproduction method for a multi degree-of-freedom system. For extraction and reproduction of haptic information, motion-copying system was previously proposed. However motion-copying system has a drawback; it is difficult to reproduce the saved motion when the environmental configuration in the motion-loading phase is different from that in the motion-saving phase. There...
The ability to solve complex problems in which considerable latitude in solution is allowed is an important goal in engineering education. While feedback is critical to learning, traditional grading of handwritten homework rarely provides effective, timely feedback on attempts to solve complex problems. To address the research question of whether automated feedback can be provided on complex problem...
Thermal actuation has seen its wide use in micro scale devices. Because it is simple in structure and easy to be fabricated and to be integrated in microelectromechanical systems (MEMS), the V-shape Thermal In-plane Microactuator (TIM) is one of most commonly used thermal actuators. It can provide large stroke and large force through constraint thermal expansion. Different buckling modes may occur...
This study investigated the characterization of viscoelastic materials by nano-indentation experiments which were performed using the home-made facility, Tribology Probe Microscopy (TPM). Both dynamic and creep indentation were performed on PTFE and styrene rubber sample. The dynamic indentation can directly output the storage and loss modulus. By fitting the displacement-time curve obtained in creep...
Compliant micro-positioning mechanisms play an important role in precise positioning and displacement technology. In this paper, a new kind of compliant mechanism based on Roberts mechanisms is proposed for the mechanism design of a novel parallel-kinematic XY micro-positioning stage. Pseudo-rigid-body model (PRBM) is developed to establish the quantitative models, which show that the XY stage has...
Novel robotized and haptic technologies are popular among the bio medical research areas due to its precision in operation. This paper presents haptic implementation to orthopedic surgeries which requires high skilled process. Due to the diversity of human bone it is very difficult to make accurate decisions. Therefore orthopedic drill with haptic interface is very important to make real time decision...
This paper are presented novel method of texture segmentation using active contour model incorporated with edge flow. The edge flow magnitude was used as a main force (external force) of active contour model. The texture segmentation from both active contour model with edge flow and traditional active contour model were compared. The results reveal that the active contour models with edge flow shown...
This paper describes the development of Potential Field (PF) method which is implemented in multi cooperative autonomous vehicle with a case study in robotic soccer. This method, called Double Target Potential Field (DTPF), increase the effectiveness of the vehicle movement to achieve the goal of passing the ball and kicking the ball into the goal. This research was conducted by simulating robot movement...
A model is developed to determine the peak current required to weld large area closed contacts with ‘n’ points of contact when passing short duration, high fault currents. The model also predicts the threshold welding current for parallel contact structures used to carry large currents in high current switching devices. The model considers: (1) the total contact resistance of the closed contacts by...
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