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An adaptive impedance control method was proposed to establish a desired dynamical relationship between the robot end point and its environment. Although impedance control-based position or force controllers or hybrid position/force controllers with respect to each axis defined at the contact point, have been successfully applied to various systems, simultaneous control of position tracking and force...
The aim of this study is to find appropriate parameters of a trapping device, i.e. equilateral triangular microwell array, using a computational simulation. This simulation was divided into nine cases of microwell with various depths and widths to help analyze the effects of them on velocity and vorticity distribution induced inside the microwell. The microwells with equilateral length of 40, 60 and...
A haptic feedback device is a device that establishes a kinaesthetic link between a human operator and a computer-generated environment. This paper addresses the bidirectional coupling between a commercial off-the-shelf (COTS) haptic feedback device and a general-purpose modelling and simulation environment. In particular, an open-source library is developed to couple the Force Dimension omega.7 haptic...
In this paper a new ground contact model (GCM) for the calculation of foot-ground reaction forces (GRF) is presented. The model is appropriate for the simulation of walking, running and jumping of human and biped robots. To ensure this capability, some criteria of a proper GCM are introduced and it is shown that the new GCM passes all these criteria. Finally, the GCM is used for the simulation of...
The sea surveying instruments ask the deep-sea submerged buoy for the ability of adjusting its attitude. The paper deals with the attitude control issue of the deep-sea submerged buoy under the sea current. Firstly, the six degree of freedom motion equation of the submerged buoy is predigested to two vertical section models. Secondly, based on the input-output linearization technique, a state feedback...
A continuously rising number of electric vehicle licensing is mentioned since the last few years in Germany. For a cost-efficient production of electrical engines in first-class quality and in sufficient quantity, it is indispensable to understand the process of coil winding. Thereby, the prediction of wire behavior is one of the key challenges. Therefore, a detailed model is built to investigate...
In this paper, we propose a distributed deployment algorithm for mobile sensor networks. The algorithm imitates the flocking behavior to drive sensors to suitable positions around the target of interest (TOI), such that the distance between each pair of neighboring sensors approaches a desired value, which could be determined by practical communication model. The movement of each sensor is governed...
Article is dedicated to the development of a sensing system for detail slip signals' registration in the adaptive robot's gripper. A rod type structure slip displacement sensor with multi-component resistive registration elements is described. The hardware implementation of clamping force correction block is considered in details. The functional diagram of the slip displacement sensor based on polytypic...
With characteristics of high efficiency, low energy consumption and zero emission, pure electric vehicle is an effective solution for the recent energy crisis and environmental issues. This paper develops a pure electric vehicle control strategy that will be used on ENRANGER G3 — a compact SUV model by Wei Chai Motor. A hardware in the loop (HIL) test platform was constructed accordingly. The platform...
This paper focuses on performance evaluation of such robotic swarms in which only a few members are aware of the swarm goal. In many robotic applications more than one robot is needed to complete a given task. In this case a swarm of robots can be applied to solve complex missions. It is not always necessary for every swarm member to be familiar with the goal of the team. We investigated some new...
This paper presents a novel indicator for lump detection that uses only contact pressure distribution, as well as its feasibility evaluation. The conventional lump detection methods are based on a pressure map obtained from contact pressure distributions, but they requires an adequate regulation of the contact condition during measurements. An alternative approach is to use a stiffness map, for which...
The space station modules form various configuration at different mission phase, and large scale robotic arm is one of the ways to realize the assembly of space modules on orbit. This paper made integrated simulation of dynamics and controlling models about aerocraft and 7-Dof rigid-flexible coupling robotic arm by Simulink and ADAMS. It makes the simulating analysis of the process of robotic arm...
Asteroid landing is a new research field in deep space exploration, which has important scientific and economic values in learning the origin of the solar system and exploring the asteroid. It is microgravity and little media properties are obtained on the asteroid surface, thus good landing performance is demanded to realize safe landing of the landing mechanism. Landing mechanism in the paper has...
Over flow protection valve is the key equipment to protect thydraulic system with large potential energy, but irreversible malfunction may occur on valve when it under shock condition. Therefore the anti-shock design of the valve is critical. Considering the two stage structure of the valve, mathematic model of over flow protection valve is established. FLUENT is introduced to calculate the flow field...
Fast switching fluid power valves set strict requirements on performance, size and energy efficiency and simulation models are therefore needed to obtain good designs of such components. The valve moving member is subject to fluid forces depending on the valve flow rate and movement of the valve member itself. These fluid forces may be accurately simulated using Computational Fluid Dynamics (CFD)...
Variable-rate tree spraying is one of the most important technique of precision agriculture. This paper presented an interactive virtual tree spraying method based on particle system, which gain fine control flexible through parameters such as the emitter position and pitch angle, atomizing particle, atomizing anger and spray penetration depth. We proposed a 2-hierarchy collision detection algorithm...
Autonomous vehicles can risk dangerous rollover if they corner without taking roll motion into consideration. This paper proposes a control algorithm to follow a curved road while simultaneously preventing rollover. Model predictive control is applied to minimize roll motion throughout cornering. The prediction of vehicle state is based on a four-wheel nonlinear vehicle model with roll dynamics and...
Pulse field magnetization (PFM) is viewed as an appropriate method to provide a strong trapped field in a superconductor. However, a large amount of heat is generated because of dynamic motion of magnetic flux during PFM, which will affect the trapped field and the corresponding magnetic force properties. In this paper, an electromagnetic simulation of the PFM coupling with heat transfer is conducted...
The paper present the gripping mechanism, which is analyzed in terms of kinematic and dynamic. Functionally calculation is presenting the gripping mechanism. Also nonlinear dynamical modeling are presented for gripping of objects with different geometries. They presented several variant of the containment mechanism grip.
The aim of this paper is to design a torque sensorless controller for a human-electric hybrid bicycle. The human input torque is estimated using the disturbance observer to design the controller for electric motor to assist the cyclist based on the requirement. The closed loop stability is ensured for various assist condition as per the standard. Simulation results are presented to validate the proposed...
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