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The effectiveness of two discrete control strategies, Latching and Declutching, has been examined for an Oscillating Wave Surge Converter using numerical simulations. A simplified hydrodynamic model of a submerged oscillating plate and a simple damper PTO were used to model the forces acting on the device. As expected from looking at the available literature, both Latching and Declutching control...
This paper studies the optimal control of a sea wave energy converter (WEC). A linear optimal controller is designed for the WEC to maximise the energy output. Rather than regulating states and control inputs as a conventional optimal controller normally does, the proposed optimal controller aims to maximise the energy output. The maximum output admissible set method is employed to estimate the feasibility...
Array processing, such as micro structure punching, wire bonding of LED array or integrated circuit, laser drilling, is widely used in electronic/optics manufacturing. In the processing, high speed positioning can cause strong excitation on the machine structure, which results in severe structure vibration and long settling time. Especially in multiple target positioning process, vibration exists...
A novel and universal computational method is proposed to obtain the dynamic stiffness and damping coefficients of the fixed-tilting pad mixture bearing. The dynamic analysis is carried out on the performance of the mixture bearing used in some F type heavy-duty gas turbine, and the influence of bearing parameters such as eccentricity and perturbation frequencies on those dynamic coefficients is studied.
A novel eddy current damper with hybrid excitation is presented in this paper. The eddy current damper contains two hybrid excitation components and a moving conductor plate. The hybrid excitation component is consisted of primary coil, the primary iron core and permanent magnet. The conductor plate is sandwiched between two excitation components. Analyses of the proposed damper are conducted with...
In order to make full use of the ability of the low impact docking mechanism to reduce the contact force in the docking process, the impedance control strategy is designed. And then a kind of parameter adjusting flow is proposed for the impedance controller based on the influence rules of the target impedance. To perform a low impact docking mission unaware of the initial position error and orientation...
Micromirrors are used in numerous applications such as optical switching, projection displays, biomedical imaging and adaptive optics. Squeeze film damping is one of the dominant energy loss mechanisms in micromirrors. In this paper, the squeeze film damping of a piston mode micromirror structure is studied. Damping analysis is performed for different material combinations and materials which lower...
although Lower Limb Robotic Rehabilitation device exhibit a great prospect in the rehabilitation of impaired limb, yet it has not been widely applied to clinical rehabilitation due to lack of identification of the system that can build a relationship relating knee joint dynamics to EMG signal. As a result, the insufficient bidirectional information interaction between exoskeleton and patient, the...
This paper proposes a fast and accurate order reduction algorithm for the extraction of compact macromodels for electrostatic actuated micro-electro-mechanical (MEMS) switches used in radio-frequency (RF) applications. The algorithm uses as input the information obtained from field simulations, in which coupled equations of electrostatic, structural-dynamic, air flow and full wave electromagnetic...
Making collaborative robots physically interact with human requires to solve some technical issues of safety. This work presents a new methodological approach to define a mechanical model of force-deformation response for biologically inspired safety mechanisms. A nonlinear Hunt-Crossley based parametric model is proposed; its parameters are designed by an optimal approach balancing safety criteria...
Assembly fixtures that are much smaller than the structure being manufactured, such as an aircraft, must routinely be positioned and docked against the structure on which they act. The major contribution of this article is to develop a variable-impedance-based human-machine control for the docking process. The issues investigated are: (i) impedance control to facilitate intuitive human force input;...
Traditional mechanical damping systems employ dissipative components, such as viscous dampers, to absorb energy from an externally excited vibratory structure, and dissipate this energy as heat. By contrast, self-powered damping systems employ transducers to convert absorbed mechanical energy into electrical energy, which is then managed in an electrical network. This enables the network to intelligently...
The increasing demand of consumer market sensors involves a continuous development for the die size, cost and performances. In this context, the integration of both a 3-axis MEMS accelerometer and a gyroscope within the same low pressure cavity becomes attractive. Such a packaging results in MEMS with high quality factor Q, which reduces Brownian noise, thereby improving the achievable precision....
Autonomous underwater vehicles (AUV) are attractive platforms for many applications in the off-shore industry. The design and development of an AUV is an expensive and complex task. During the development of these vehicles both at the stage of physical design for construction, as in the stage of the navigation system design, it is critical to estimate and analyze the dynamic behavior of these vehicles...
Over the past few decades, robot actuators with variable stiffness or impedance control have been developed. This control adjusts the stiffness of the task space of joint space, enabling the robot to perform explosive tasks and to interact with environments and humans. However, planning the robot stiffness is a difficult task, except in a few optimal control problems, such as maximizing the output...
Sky-hook damping is one of the most promising techniques for feedback control of structural vibrations. It is based on the idea of connecting the structure to an ideal fixed point of the space through passive dissipative devices. Herein the benefit of semi-active (SA) sky hook (SH) damping is investigated for seismic protection of a two-story steel frame via shaking table tests. This kind of SA control...
This work proposes the representation of the high level dynamic modelling of a formation of two quadrotor UAVs cooperatively carrying a suspended load. The two quadrotors are attached to the load by massless and stretchable cables, which can slack and taut during the task accomplishment. The cable is modeled as a high stiffness spring with a damping coefficient, according to the Hooke's law, and its...
In this paper, according to the result of characteristics experiment of MRF(magnetorheological fluid), we design Bingham dynamic model that describes MRD(magnetorheological damper) dynamic characteristics. The model has simple structure and clear physical concept, as well it is the most common dynamic model. Aiming at identify the parameter of Bingham model, we propose two kinds of algorithm firstly,...
This paper address the problem of driving an underactuated ship to following a desired path under current disturbance. Based on a practical ship, the damping force should be nonlinear which related with velodity. The solution consists of a Lyapunov-based trajectory tracking control law and disturbance estimator. The controller solves the boundedness and convergence of position tracking error, which...
The paper deals with the mathematical model of the simply supported and fixed beam whose vibrations are actively damped with the use of linear piezoactuators. The model in the form of equations of motion to analyze assumes collocated and noncollocated arrangement of a sensor and an actuator. It is assumed that a piezoactuators output force depends on the supply voltage and the piezoactuator track...
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