Search results for: kinematic and dynamic controllers

Authors: Kazuyoshi Mori

Abstract:

In this paper, we consider the number of parameters for the parametrization of stabilizing controllers for RHinf systems with size 2 × 2. Fortunately, any plant of this model can admit doubly coprime factorization. Thus we can use the Youla parameterization to parametrize the stabilizing contollers . However, Youla parameterization does not give itself the minimal number of parameters. This paper shows that the minimal number of parameters is four. As a result, we show that the Youla parametrization naturally gives the parameterization of stabilizing controllers with minimal numbers.

Keywords: RHinfo, parameterization, number of parameters, multi-input, multi-output systems

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Authors: Jun Tian, Yu Yang, Liping Zhang, Qianhua Kan

Abstract:

Experimental results show that SA 508-3 steel exhibits temperature dependent cyclic softening characteristic and obvious ratcheting behaviors, and dynamic strain age was observed at temperature range of 200 ºC to 350 ºC. Based on these observations, a temperature dependent cyclic plastic constitutive model was proposed by introducing the nonlinear cyclic softening and kinematic hardening rules, and the dynamic strain age was also considered into the constitutive model. Comparisons between experiments and simulations were carried out to validate the proposed model at elevated temperature.

Keywords: constitutive model, elevated temperature, ratcheting, SA 508-3

Procedia PDF Downloads 270

Authors: M. Brahim, I. Bahri, Y. Bernard

Abstract:

Traveling Wave Ultrasonic Motor (TWUM) is a compact, precise, and silent actuator generating high torque at low speed without gears. Moreover, the TWUM has a high holding torque without supply, which makes this motor as an attractive solution for holding position of robotic arms. However, their nonlinear dynamics, and the presence of load-dependent dead zones often limit their use. Those issues can be overcome in closed loop with effective and precise controllers. In this paper, robust H-infinity (H∞) and discrete time RST position controllers are presented. The H∞ controller is designed in continuous time with additional weighting filters to ensure the robustness in the case of uncertain motor model and external disturbances. Robust RST controller based on the pole placement method is also designed and compared to the H∞. Simulink model of TWUM is used to validate the stability and the robustness of the two proposed controllers.

Keywords: piezoelectric motors, position control, H∞, RST, stability criteria, robustness

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Authors: C. Copilusi, C. Ploscaru

Abstract:

This paper addresses attention to a research regarding the design of a knee orthosis in a modular form used on children walking rehabilitation. This research is focused on the human lower limb kinematic analysis which will be used as input data on virtual simulations and prototype validation. From this analysis, important data will be obtained and used as input for virtual simulations of the knee modular orthosis. Thus, a knee orthosis concept was obtained and validated through virtual simulations by using MSC Adams software. Based on the obtained results, the modular orthosis prototype will be manufactured and presented in this article.

Keywords: human lower limb, children orthoses, kinematic analysis, knee orthosis

Procedia PDF Downloads 258

Authors: Saeed Mahjoub Moghadas, Farhad Asadi, Shahed Torkamandi, Hassan Moradi, Mahmood Purgamshidian

Abstract:

In this paper, we present real-time obstacle avoidance approach for both autonomous and non-autonomous DS-based controllers and also based on dynamical systems (DS) method. In this approach, we can modulate the original dynamics of the controller and it allows us to determine safety margin and different types of DS to increase the robot’s reactiveness in the face of uncertainty in the localization of the obstacle and especially when robot moves very fast in changeable complex environments. The method is validated in simulation and influence of different autonomous and non-autonomous DS such as limit cycles, and unstable DS on this algorithm and also the position of different obstacles in complex environment is explained. Finally, we describe how the avoidance trajectories can be verified through different parameters such as safety factor.

Keywords: limit cycles, nonlinear dynamical system, real time obstacle avoidance, DS-based controllers

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Authors: Ebrahim Hassan Kapeel, Ahmed Mohsen Kamel, Hossan Hendy, Yehia Z. Elhalwagy

Abstract:

Interest in autopilot design has been raised intensely as a result of recent advancements in Unmanned Aerial vehicles (UAVs). Due to the enormous number of applications that UAVs can achieve, the number of applied control theories used for them has increased in recent years. These small fixed-wing UAVs are suffering high non-linearity, sensitivity to disturbances, and coupling effects between their channels. In this work, the nonlinear dynamic inversion (NDI) control lawisdesigned for a nonlinear small fixed-wing UAV model. The NDI is preferable for varied operating conditions, there is no need for a scheduling controller. Moreover, it’s applicable for high angles of attack. For the designed flight controller validation, a nonlinear Modified PI-D controller is performed with our model. A comparative study between both controllers is achieved to evaluate the NDI performance. Simulation results and analysis are proposed to illustrate the effectiveness of the designed controller based on NDI.

Keywords: UAV dynamic model, attitude control, nonlinear PID, dynamic inversion

Procedia PDF Downloads 73

Authors: El Hansali Hasnaa, Bennani Mohammed

Abstract:

Hexapod legged robot’s missions, particularly in irregular and dangerous areas, require high stability and high precision. In this paper, we consider the rectangular architecture body of legged robots with six legs distributed symmetrically along two sides, each leg contains three degrees of freedom for greater mobility. The aim of this work is planning tripod gait trajectory, based on the computing of the kinematic model to determine the joint variables in the lifting and the propelling phases. For this, appropriate coordinate frames are attached to the body and legs in order to obtain clear representation and efficient generation of the system equations. A simulation in MATLAB software platform is developed to confirm the kinematic model and various trajectories to the tripod gait adopted by the hexapod robot in its locomotion.

Keywords: hexapod legged robot, inverse kinematic model, simulation in MATLAB, tripod gait

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Authors: Ying-Chen Lin, Ching-Ting Hsu, Wei-Hua Ho

Abstract:

The purpose of this study is to investigate the kinematic characteristics and differences of the snatch barbell trajectory of 53 kg class female weight lifters. We take the 2014 Taiwan College Cup players as examples, and tend to make kinematic applications through the proven weightlifting barbell track system. The competition videos are taken by consumer camcorder with a tripod which set up at the side of the lifter. The results will be discussed in three parts, the first part is various lifting phase, the second part is the compare lifting between success and unsuccessful, and the third part is the outstanding player compare with the general. Conclusion through the barbell can be used to observe the trajectories of our players cite the usual process cannot be observed in the presence of malfunction or habits, so that the coach can find the problem more accurately guide the players. Our system can be applied in practice and competition to increase the resilience of the lifter on the field.

Keywords: computer aided sport training, kinematic, trajectory, weightlifting

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Authors: Mahacine Amrani

Abstract:

This paper aims at reviewing some Moroccan industrial applications of wavelet especially in the dynamic identification of a process model using Haar wavelet mother response. Two recent Moroccan study cases are described using dynamic data originated by a distillation column and an industrial polyethylene process plant. The purpose of the wavelet scheme is to build on-line dynamic models. In both case studies, a comparison is carried out between the Haar wavelet mother response model and a linear difference equation model. Finally it concludes, on the base of the comparison of the process performances and the best responses, which may be useful to create an estimated on-line internal model control and its application towards model-predictive controllers (MPC). All calculations were implemented using AutoSignal Software.

Keywords: process performance, model, wavelets, Haar, Moroccan

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Authors: Nikhil Padhye, Ellen Kintz, Dan Dorci

Abstract:

Recent years have seen a rising interest in study and applications of materially uniform thin-structures (plates/shells) subject to finite-bending and stretching deformations. We introduce a well-posed 2D-model involving finite-bending and stretching of thin-structures to approximate the three-dimensional equilibria. Key features of this approach include: Non-Uniform Rational B-Spline (NURBS)-based spatial discretization for finite elements, method of dynamic relaxation to predict stable equilibria, and no a priori kinematic assumption on the deformation fields. The approach is validated against the benchmark problems,and the use of NURBS for spatial discretization facilitates exact spatial representation and computation of curvatures (due to C1-continuity of interpolated displacements) for this higher-order accuracy 2D-model.

Keywords: Isogeometric Analysis, Plates/Shells , Finite Element Methods, Dynamic Relaxation

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Authors: B. Moaveni, S. Morovati

Abstract:

In recent years, increasing the usage of railway transportations especially in developing countries caused more attention to control systems railway vehicles. Consequently, designing and implementing the modern control systems to improve the operating performance of trains and locomotives become one of the main concerns of researches. Dynamic braking systems is an important safety system which controls the amount of braking torque generated by traction motors, to keep the adhesion coefficient between the wheel-sets and rail road in optimum bound. Adhesion force has an important role to control the braking distance and prevent the wheels from slipping during the braking process. Cascade control structure is one of the best control methods for the wide range of industrial plants in the presence of disturbances and errors. This paper presents cascade control structure based on two forward simple controllers with two feedback loops to control the slip ratio and braking torque. In this structure, the inner loop controls the angular velocity and the outer loop control the longitudinal velocity of the locomotive that its dynamic is slower than the dynamic of angular velocity. This control structure by controlling the torque of DC traction motors, tries to track the desired velocity profile to access the predefined braking distance and to control the slip ratio. Simulation results are employed to show the effectiveness of the introduced methodology in dynamic braking system.

Keywords: cascade control, dynamic braking system, DC traction motors, slip control

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Authors: Kessal Abdelhalim, Zebiri Fouad, Rahmani Lazhar

Abstract:

This paper presents an analysis by which the dynamic performances of a permanent magnet brushless DC (PMBLDC) motor is controlled through a hysteresis current loop and an outer speed loop with different controllers. The dynamics of the photovoltaic pumping drive system with sliding mode speed controllers are presented. The proposed structure is constituted of photovoltaic generator associated to DC-DC converter controlled by fuzzy logic to ensure the maximum power point tracking. The PWM signals are generated by the interaction of the motor speed closed-loop system and the current hysteresis. The motor reference current is compared with the motor speed feedback signal. The considered model has been implemented in Matlab/Simpower environment. The results show the effectiveness of the proposed method to increase the performance of the water pumping system.

Keywords: photovoltaic, permanent magnet brushless DC (PMBLDC) motor, MPPT, speed control, fuzzy, sliding mode

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Authors: G. Shabib, Esam H. Abd-Elhameed, G. Magdy

Abstract:

In this paper, a comparison of discrete time PID, PSS controllers is presented through small signal stability of power system comprising of one machine connected to infinite bus system. This comparison achieved by using a new approach of discretization which converts the S-domain model of analog controllers to a Z-domain model to enhance the damping of a single machine power system. The new method utilizes the Plant Input Mapping (PIM) algorithm. The proposed algorithm is stable for any sampling rate, as well as it takes the closed loop characteristic into consideration. On the other hand, the traditional discretization methods such as Tustin’s method is produce satisfactory results only; when the sampling period is sufficiently low.

Keywords: PSS, power system stabilizer PID, proportional-integral-derivative PIM, plant input mapping

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Authors: Evgeniia V. Mekhonoshina, Vladimir Ya. Modorskii, Vasilii Yu. Petrov

Abstract:

At present, vibrations of rotors of gas transmittal unit evade sustainable forecasting. This paper describes elastic oscillation modes in resilient supports and rotor impellers modeled during computational experiments with regard to interference in the system of gas-dynamic flow and compressor rotor. Verification of aeroelastic approach was done on model problem of interaction between supersonic jet in shock tube with deformed plate. ANSYS 15.0 engineering analysis system was used as a modeling tool of numerical simulation in this paper. Finite volume method for gas dynamics and finite elements method for assessment of the strain stress state (SSS) components were used as research methods. Rotation speed and material’s elasticity modulus varied during calculations, and SSS components and gas-dynamic parameters in the dynamic system of gas-dynamic flow and compressor rotor were evaluated. The analysis of time dependence demonstrated that gas-dynamic parameters near the rotor blades oscillate at 200 Hz, and SSS parameters at the upper blade edge oscillate four times higher, i.e. with blade frequency. It has been detected that vibration amplitudes correction in the test points at magnetic bearings by aeroelasticity may correspond up to 50%, and about -π/4 for phases.

Keywords: Centrifugal compressor, aeroelasticity, interdisciplinary calculation, oscillation phase displacement, vibration, nonstationarity

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Authors: Shahroz Khan, Osman Taha Şen

Abstract:

In automotive brake systems, brake noise has been a major problem, and brake squeal is one of the critical ones which is an instability issue. The brake squeal produces an audible sound at high frequency that is irritating to the human ear. To study this critical problem, first a nonlinear mathematical model with three degree of freedom is developed. This model consists of a point mass that simulates the brake pad and a sliding surface that simulates the brake rotor. The model exposes kinematic and clearance nonlinearities, but no friction nonlinearity. In the formulation, the friction coefficient is assumed to be constant and the friction force does not change direction. The nonlinear governing equations of the model are first obtained, and numerical solutions are sought for different cases. Second, a computational model for the squeal problem is developed with a commercial software, and computational solutions are obtained with two different types of contact cases (solid-to-solid and sphere-to-plane). This model consists of three rigid bodies and several elastic elements that simulate the key characteristics of a brake system. The response obtained from this model is compared with numerical solutions in time and frequency domain.

Keywords: contact force, nonlinearities, brake squeal, vehicle brake

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Authors: Alexandros Lioulemes, Michail Theofanidis, Varun Kanal, Konstantinos Tsiakas, Maher Abujelala, Chris Collander, William B. Townsend, Angie Boisselle, Fillia Makedon

Abstract:

This paper presents a home-based robot-rehabilitation instrument, called ”MAGNI Dynamics”, that utilized a vision-based kinematic/dynamic module and an adaptive haptic feedback controller. The system is expected to provide personalized rehabilitation by adjusting its resistive and supportive behavior according to a fuzzy intelligence controller that acts as an inference system, which correlates the user’s performance to different stiffness factors. The vision module uses the Kinect’s skeletal tracking to monitor the user’s effort in an unobtrusive and safe way, by estimating the torque that affects the user’s arm. The system’s torque estimations are justified by capturing electromyographic data from primitive hand motions (Shoulder Abduction and Shoulder Forward Flexion). Moreover, we present and analyze how the Barrett WAM generates a force-field with a haptic controller to support or challenge the users. Experiments show that by shifting the proportional value, that corresponds to different stiffness factors of the haptic path, can potentially help the user to improve his/her motor skills. Finally, potential areas for future research are discussed, that address how a rehabilitation robotic framework may include multisensing data, to improve the user’s recovery process.

Keywords: human-robot interaction, kinect, kinematics, dynamics, haptic control, rehabilitation robotics, artificial intelligence

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Authors: Liliia N. Butymova, Vladimir Y. Modorsky, Nikolai A. Shevelev

Abstract:

Prediction of vibration processes in gas transmittal units (GTU) is an urgent problem. Despite numerous scientific publications on the problem of vibrations in general, there are not enough works concerning FSI-modeling interaction processes between several deformable blades in gas-dynamic flow. Since it is very difficult to solve the problem in full scope, with all factors considered, a unidirectional dynamic coupled 1FSI model is suggested for use at the first stage, which would include, from symmetry considerations, two blades, which might be considered as the first stage of solving more general bidirectional problem. ANSYS CFX programmed multi-processor was chosen as a numerical computation tool. The problem was solved on PNRPU high-capacity computer complex. At the first stage of the study, blades were believed oscillating with the same frequency, although oscillation phases could be equal and could be different. At that non-stationary gas-dynamic forces distribution over the blades surfaces is calculated in run of simulation experiment. Oscillations in the “gas — structure” dynamic system are assumed to increase if the resultant of these gas-dynamic forces is in-phase with blade oscillation, and phase shift (φ=0). Provided these oscillation occur with phase shift, then oscillations might increase or decrease, depending on the phase shift value. The most important results are as follows: the angle of phase shift in inter-blade oscillation and the gas-dynamic force depends on the flow velocity, the specific inter-blade gap, and the shaft rotation speed; a phase shift in oscillation of adjacent blades does not always correspond to phase shift of gas-dynamic forces affecting the blades. Thus, it was discovered, that asynchronous oscillation of blades might cause either attenuation or intensification of oscillation. It was revealed that clocking effect might depend not only on the mutual circumferential displacement of blade rows and the gap between the blades, but also on the blade dynamic deformation nature.

Keywords: aeroelasticity, ANSYS CFX, oscillation, phase shift, clocking effect, vibrations

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Authors: Rana M. Mostafa, Nouby M. Ghazaly, Ahmed S. Ali

Abstract:

This article introduces a solution for increasing the wind energy extracted from turbines to overcome the more electric power required. This objective provides a new science discipline; wind turbine control. This field depends on the development in power electronics to provide new control strategies for turbines. Those strategies should deal with all turbine operating modes. Here there are two control strategies developed for variable speed horizontal axis wind turbine for rated and over rated wind speed regions. These strategies will support wind energy validation, decrease manufacturing overhead cost. Here nonlinear adaptive method was used to design speed controllers to a scheme for ‘Aeolos50 kw’ wind turbine connected to permanent magnet generator via a gear box which was built on MATLAB/Simulink. These controllers apply maximum power point tracking concept to guarantee goal achievement. Procedures were carried to test both controllers efficiency. The results had been shown that the developed controllers are acceptable and this can be easily declared from simulation results.

Keywords: adaptive method, pitch controller, wind energy, nonlinear control

Procedia PDF Downloads 221

Authors: Azadeh Jafari, Mohammad Taghi Karimi, Azadeh Nadi

Abstract:

Background: Scoliosis is the lateral curvature of the spine which may influence the abilities of the subjects during standing and walking. Most of the scoliotic subjects use orthosis to reduce the curve and to decrease the risk of curve progression. There was lack of information regarding the effects of orthosis on kinematic and joint contact force. Therefore, this research was done to highlight the effects of orthosis on the aforementioned parameters. Method: 5 scoliotic subjects were recruited in this study, with single curve less than 40 (females with age 13.2 ± 1.7). They were asked to walk with and without orthosis. The kinematic of the joints, force applied on the legs, moments transmitted through the joints and joint contact forces were evaluated in this study. Moreover, the lengths of muscles were determined by use of computer muscle control approach in OpenSim. Results: There was a significant difference between the second peak of vertical ground reaction force while walking with and without orthosis (p-value < 0.05). There was no difference between spatiotemporal gait parameters while walking with and without orthosis (P-value > 0.05). The mean values of joint contact forces (vertical component) increased by the use of orthosis, but the difference was not significant (p-value > 0.05). Conclusion: Although the kinematic of most of the body joints was not influenced by the use of orthosis, the joint contact force may be increased by orthosis. The increase in joint contact force may be due to the performance of orthosis which restricts the motions of pelvic and increases compensatory mechanism used by the subjects to decrease the side effects of the orthosis.

Keywords: scoliosis, joint contact force, kinetic, kinematic

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Authors: Isa Ahmadi, Ramin Khamedi

Abstract:

In this paper, the elasto-plastic and cyclic torsion of a shaft is studied using a finite element method. The Prager kinematic hardening theory of plasticity with the Ramberg and Osgood stress-strain equation is used to evaluate the cyclic loading behavior of the shaft under the torsional loading. The material of shaft is assumed to follow the non-linear strain hardening property based on the Prager model. The finite element method with C1 continuity is developed and used for solution of the governing equations of the problem. The successive substitution iterative method is used to calculate the distribution of stresses and plastic strains in the shaft due to cyclic loads. The shear stress, effective stress, residual stress and elastic and plastic shear strain distribution are presented in the numerical results.

Keywords: cyclic loading, finite element analysis, Prager kinematic hardening model, torsion of shaft

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Authors: Aziz Ahmad, Guillermo Ramirez-Prado

Abstract:

Governments around the world encourage the use of solar water heating in residential houses due to the low maintenance requirements and efficiency of the solar collector water heating systems. The aim of this work is to study a domestic solar water heating system in a residential building to develop a model of the entire solar water heating system including flat-plate solar collector and storage tank. The proposed model is adaptable to any households and location. The model can be used to test different types of controllers and can provide efficiency as well as economic analysis. The proposed model is based on the heat and mass transfer equations along with assumptions applied in the model which can be modified for a variety of different solar water heating systems and sizes. Simulation results of the model were compared with the actual system which shows similar trends.

Keywords: solar thermal systems, solar water heating, solar collector model, hot water tank model, solar controllers

Procedia PDF Downloads 237

Authors: Mehdi Shahbazian, Alireza Aarabi, Mohsen Hadiyan

Abstract:

Proportional-Integral-Derivative (PID) controllers are the most widely used controllers in industry because of its simplicity and robustness. Different values of PID parameters make different step response, so an increasing amount of literature is devoted to proper tuning of PID controllers. The problem merits further investigation as traditional tuning methods make large control signal that can damages the system but using evolutionary algorithms based tuning methods improve the control signal and closed loop performance. In this paper three tuning methods for PID controllers have been studied namely Ziegler and Nichols, which is traditional tuning method and evolutionary algorithms based tuning methods, that are, Genetic algorithm and particle swarm optimization. To examine the validity of PSO and GA tuning methods a comparative analysis of DC motor plant is studied. Simulation results reveal that evolutionary algorithms based tuning method have improved control signal amplitude and quality factors of the closed loop system such as rise time, integral absolute error (IAE) and maximum overshoot.

Keywords: evolutionary algorithm, genetic algorithm, particle swarm optimization, PID controller

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Authors: Ebrahim H. Kapeel, Ahmed M. Kamel, Hossam Hendy, Yehia Z. Elhalwagy

Abstract:

Interest in autopilot design has been raised intensely as a result of recent advancements in Unmanned Aerial vehicles (UAVs). Due to the enormous number of applications that UAVs can achieve, the number of applied control theories used for them has increased in recent years. These small fixed-wing UAVs are suffering high non-linearity, sensitivity to disturbances, and coupling effects between their channels. In this work, the nonlinear dynamic inversion (NDI) control law is designed for a nonlinear small fixed-wing UAV model. The NDI is preferable for varied operating conditions, there is no need for a scheduling controller. Moreover, it’s applicable for high angles of attack. For the designed flight controller validation, a nonlinear Modified PI-D controller is performed with our model. A comparative study between both controllers is achieved to evaluate the NDI performance. Simulation results and analysis are proposed to illustrate the effectiveness of the designed controller based on NDI.

Keywords: attitude control, nonlinear PID, dynamic inversion

Procedia PDF Downloads 73

Authors: Apurva Patil, Maithilee Kulkarni, Ashay Aswale

Abstract:

This paper proposes an algorithm to develop the kinematic model of a 5 DOF robot arm. The formulation of the problem is based on finding the D-H parameters of the arm. Brute Force iterative method is employed to solve the system of non linear equations. The focus of the paper is to obtain the accurate solutions by reducing the root mean square error. The result obtained will be implemented to grip the objects. The trajectories followed by the end effector for the required workspace coordinates are plotted. The methodology used here can be used in solving the problem for any other kinematic chain of up to six DOF.

Keywords: 5 DOF robot arm, D-H parameters, inverse kinematics, iterative method, trajectories

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Authors: Mehrdad Mahmudizad, Roya Ahmadi Ahangar

Abstract:

This paper presents the method of designing the type 2 fuzzy PID controllers in order to solve the problem of Load Frequency Control (LFC). The Harmony Search (HS) algorithm is used to regulate the measurement factors and the effect of uncertainty of membership functions of Interval Type 2 Fuzzy Proportional Integral Differential (IT2FPID) controllers in order to reduce the frequency deviation resulted from the load oscillations. The simulation results implicitly show that the performance of the proposed IT2FPID LFC in terms of error, settling time and resistance against different load oscillations is more appropriate and preferred than PID and Type 1 Fuzzy Proportional Integral Differential (T1FPID) controllers.

Keywords: load frequency control, fuzzy-pid controller, type 2 fuzzy system, harmony search algorithm

Procedia PDF Downloads 238

Authors: Kazuyoshi Mori

Abstract:

Examples of parameterization of stabilizing controllers that require only one of right-/left-coprime factorizations are presented. One parameterization method requires one side coprime factorization. The other requires no coprime factorization. The methods are based on the factorization approach so that a number of models can be applied the method we use in this paper.

Keywords: parametrization, coprime factorization, factorization approach, linear systems

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Authors: Sabir Messalti, Bilal Boudjellal, Azouz Said

Abstract:

In this paper, power system Voltage improvement using wind turbine is presented. Two controllers are used: a PI controller and Artificial Neural Networks (ANN) controllers are studied to control of the power flow exchanged between the wind turbine and the power system in order to improve the bus voltage. The wind turbine is based on a doubly-fed induction generator (DFIG) controlled by field-oriented control. Indirect control is used to control of the reactive power flow exchanged between the DFIG and the power system. The proposed controllers are tested on power system for large voltage disturbances.

Keywords: artificial neural networks controller, DFIG, field-oriented control, PI controller, power system voltage improvement

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Authors: Jatin Gupta, Bishakh Bhattacharya

Abstract:

With the aging process, many people start suffering from the problem of weak limbs resulting in mobility disorders and loss of sensory and motor function of limbs. Wearable robotic devices are viable solutions to help people suffering from these issues by augmenting their strength. These robotic devices, popularly known as exoskeletons aides user by providing external power and controlling the dynamics so as to achieve desired motion. Present work studies a simplified dynamic model of the human gait. A four link open chain kinematic model is developed to describe the dynamics of Single Support Phase (SSP) of the human gait cycle. The dynamic model is developed integrating mathematical models of the motion of inverted and triple pendulums. Stance leg is modeled as inverted pendulum having single degree of freedom and swing leg as triple pendulum having three degrees of freedom viz. thigh, knee, and ankle joints. The kinematic model is formulated using forward kinematics approach. Lagrangian approach is used to formulate governing dynamic equation of the model. For a system of nonlinear differential equations, numerical method is employed to obtain system response. Reference trajectory is generated using human body simulator, LifeMOD. For optimal mechanical design and controller design of exoskeleton system, it is imperative to study parameter sensitivity of the system. Six different parameters viz. thigh, shank, and foot masses and lengths are varied from 85% to 115% of the original value for the present work. It is observed that hip joint of swing leg is the most sensitive and ankle joint of swing leg is the least sensitive one. Changing link lengths causes more deviation in system response than link masses. Also, shank length and thigh mass are most sensitive parameters. Finally, the present study gives an insight on different factors that should be considered while designing a lower extremity exoskeleton.

Keywords: lower limb exoskeleton, multibody dynamics, energy based formulation, optimal design

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Authors: Marina Franulovic, Robert Basan, Bozidar Krizan

Abstract:

Constitutive modelling of material behaviour is becoming increasingly important in prediction of possible failures in highly loaded engineering components, and consequently, optimization of their design. In order to account for large number of phenomena that occur in the material during operation, such as kinematic hardening effect in low cycle fatigue behaviour of steels, complex nonlinear material models are used ever more frequently, despite of the complexity of determination of their parameters. As a method for the determination of these parameters, genetic algorithm is good choice because of its capability to provide very good approximation of the solution in systems with large number of unknown variables. For the application of genetic algorithm to parameter identification, inverse analysis must be primarily defined. It is used as a tool to fine-tune calculated stress-strain values with experimental ones. In order to choose proper objective function for inverse analysis among already existent and newly developed functions, the research is performed to investigate its influence on material behaviour modelling.

Keywords: genetic algorithm, kinematic hardening, material model, objective function

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Authors: Osman Acar

Abstract:

Sun tracking systems are the systems following the sun ray by a right angle or by predetermined certain angle. In this study, we used theoretical trajectory of sun for latitude of central Anatolia in Turkey. A two degree of freedom spherical mechanism was designed to have a large workspace able to follow the sun's theoretical motion by the right angle during the whole year. An inverse kinematic analysis was generated to find the positions of mechanism links for the predicted trajectory. Force and torque analysis were shown for the first day of the year.

Keywords: sun tracking, theoretical sun trajectory, spherical mechanism, inverse kinematic analysis

Procedia PDF Downloads 386