Search results for: Euler Lagrange model

Authors: Alexander S. Andreev, Olga A. Peregudova

Abstract:

In this paper we propose a discrete tracking control of nonholonomic mobile robots with two degrees of freedom. The electromechanical model of a mobile robot moving on a horizontal surface without slipping, with two rear wheels controlled by two independent DC electric, and one front roal wheel is considered. We present backstepping design based on the Euler approximate discretetime model of a continuous-time plant. Theoretical considerations are verified by numerical simulation.

Keywords: Actuator Dynamics, Backstepping, Discrete-Time Controller, Lyapunov Function, Wheeled Mobile Robot.

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Authors: Francisco Miranda

Abstract:

The optimization problem using time scales is studied. Time scale is a model of time. The language of time scales seems to be an ideal tool to unify the continuous-time and the discrete-time theories. In this work we present necessary conditions for a solution of an optimization problem on time scales. To obtain that result we use properties and results of the partial diamond-alpha derivatives for continuous-multivariable functions. These results are also presented here.

Keywords: Lagrange multipliers, mathematical programming, optimization problem, time scales.

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Authors: S. M. H. Karimian, F. S. Salehi, H. Alisadeghi

Abstract:

A two-dimensional moving mesh algorithm is developed to simulate the general motion of two rotating bodies with relative translational motion. The grid includes a background grid and two sets of grids around the moving bodies. With this grid arrangement rotational and translational motions of two bodies are handled separately, with no complications. Inter-grid boundaries are determined based on their distances from two bodies. In this method, the overset concept is applied to hybrid grid, and flow variables are interpolated using a simple stencil. To evaluate this moving mesh algorithm unsteady Euler flow is solved for different cases using dual-time method of Jameson. Numerical results show excellent agreement with experimental data and other numerical results. To demonstrate the capability of present algorithm for accurate solution of flow fields around moving bodies, some benchmark problems have been defined in this paper.

Keywords: Moving mesh, Overset grid, Unsteady Euler, Relative motion.

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Authors: Hamioud Saida, Khalfallah Salah

Abstract:

In this study, a spectral element method (SEM) is employed to predict the free vibration of a Euler-Bernoulli beam resting on a Winkler foundation with elastically restrained ends. The formulation of the dynamic stiffness matrix has been established by solving the differential equation of motion which was transformed to frequency domain. Non-dimensional natural frequencies and shape modes are obtained by solving the partial differential equations, numerically. Numerical comparisons and examples are performed to show the effectiveness of the SEM and to investigate the effects of various parameters, such as the springs at the boundaries and the elastic foundation parameter on the vibration frequencies. The obtained results demonstrate that the present method can also be applied to solve the more general problem of the dynamic analysis of structures with higher order precision.

Keywords: Elastically supported Euler-Bernoulli beam, free-vibration, spectral element method, Winkler foundation.

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Authors: Mohamad Reza. Mohaghegh, Majid. Malek Jafarian

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This research proposes an algorithm for the simulation of time-periodic unsteady problems via the solution unsteady Euler and Navier-Stokes equations. This algorithm which is called Time Spectral method uses a Fourier representation in time and hence solve for the periodic state directly without resolving transients (which consume most of the resources in a time-accurate scheme). Mathematical tools used here are discrete Fourier transformations. It has shown tremendous potential for reducing the computational cost compared to conventional time-accurate methods, by enforcing periodicity and using Fourier representation in time, leading to spectral accuracy. The accuracy and efficiency of this technique is verified by Euler and Navier-Stokes calculations for pitching airfoils. Because of flow turbulence nature, Baldwin-Lomax turbulence model has been used at viscous flow analysis. The results presented by the Time Spectral method are compared with experimental data. It has shown tremendous potential for reducing the computational cost compared to the conventional time-accurate methods, by enforcing periodicity and using Fourier representation in time, leading to spectral accuracy, because results verify the small number of time intervals per pitching cycle required to capture the flow physics.

Keywords: Time Spectral Method, Time-periodic unsteadyflow, Discrete Fourier transform, Pitching airfoil, Turbulence flow

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Authors: Loay A. Al-Zu'be, Asma A. Al-Tamimi, Thakir D. Al-Momani, Ayat J. Alkarala, Maryam A. Alzawahreh

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A two dimensional three segments coupled pendulum system that mathematically models human arm configuration was developed along with constructing and solving the equations of motions for this model using the energy (work) based approach of Lagrange. The equations of motion of the model were solved iteratively both as an initial value problem and as a two point boundary value problem. In the initial value problem solutions, both the initial system configuration (segment angles) and initial system velocity (segment angular velocities) were used as inputs, whereas, in the two point boundary value problem solutions initial and final configurations and time were used as inputs to solve for the trajectory of motion. The results suggest that the model solutions are sensitive to small changes in the dynamic forces applied to the system as well as to the initial and boundary conditions used. To overcome the system sensitivity a new approach is suggested.

Keywords: Body Configurations, Equations of Motion, Mathematical Modeling, Movement Trajectories.

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Authors: T.C. Manjunath, B. Bandyopadhyay

Abstract:

This paper features the modeling and design of a Fast Output Sampling (FOS) Feedback control technique for the Active Vibration Control (AVC) of a smart flexible aluminium cantilever beam for a Single Input Single Output (SISO) case. Controllers are designed for the beam by bonding patches of piezoelectric layer as sensor / actuator to the master structure at different locations along the length of the beam by retaining the first 2 dominant vibratory modes. The entire structure is modeled in state space form using the concept of piezoelectric theory, Euler-Bernoulli beam theory, Finite Element Method (FEM) and the state space techniques by dividing the structure into 3, 4, 5 finite elements, thus giving rise to three types of systems, viz., system 1 (beam divided into 3 finite elements), system 2 (4 finite elements), system 3 (5 finite elements). The effect of placing the sensor / actuator at various locations along the length of the beam for all the 3 types of systems considered is observed and the conclusions are drawn for the best performance and for the smallest magnitude of the control input required to control the vibrations of the beam. Simulations are performed in MATLAB. The open loop responses, closed loop responses and the tip displacements with and without the controller are obtained and the performance of the proposed smart system is evaluated for vibration control.

Keywords: Smart structure, Finite element method, State spacemodel, Euler-Bernoulli theory, SISO model, Fast output sampling, Vibration control, LMI

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Authors: M. Behbahani-Nejad, Y. Shekari

Abstract:

A reduced order modeling approach for natural gas transient flow in pipelines is presented. The Euler equations are considered as the governing equations and solved numerically using the implicit Steger-Warming flux vector splitting method. Next, the linearized form of the equations is derived and the corresponding eigensystem is obtained. Then, a few dominant flow eigenmodes are used to construct an efficient reduced-order model. A well-known test case is presented to demonstrate the accuracy and the computational efficiency of the proposed method. The results obtained are in good agreement with those of the direct numerical method and field data. Moreover, it is shown that the present reduced-order model is more efficient than the conventional numerical techniques for transient flow analysis of natural gas in pipelines.

Keywords: Eigenmode, Natural Gas, Reduced Order Modeling, Transient Flow.

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Authors: Kaan T. Oner, Ertugrul Cetinsoy, Efe Sirimoglu, Cevdet Hancer, Taylan Ayken, Mustafa Unel

Abstract:

We present our ongoing work on the development of a new quadrotor aerial vehicle which has a tilt-wing mechanism. The vehicle is capable of take-off/landing in vertical flight mode (VTOL) and flying over long distances in horizontal flight mode. Full dynamic model of the vehicle is derived using Newton-Euler formulation. Linear and nonlinear controllers for the stabilization of attitude of the vehicle and control of its altitude have been designed and implemented via simulations. In particular, an LQR controller has been shown to be quite effective in the vertical flight mode for all possible yaw angles. A sliding mode controller (SMC) with recursive nature has also been proposed to stabilize the vehicle-s attitude and altitude. Simulation results show that proposed controllers provide satisfactory performance in achieving desired maneuvers.

Keywords: UAV, VTOL, dynamic model, stabilization, LQR, SMC

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Authors: V. Piscopo

Abstract:

In the classical buckling analysis of rectangular plates subjected to the concurrent action of shear and uniaxial forces, the Euler shear buckling stress is generally evaluated separately, so that no influence on the shear buckling coefficient, due to the in-plane tensile or compressive forces, is taken into account. In this paper the buckling problem of simply supported rectangular plates, under the combined action of shear and uniaxial forces, is discussed from the beginning, in order to obtain new project formulas for the shear buckling coefficient that take into account the presence of uniaxial forces. Furthermore, as the classical expression of the shear buckling coefficient for simply supported rectangular plates is considered only a “rough" approximation, as the exact one is defined by a system of intersecting curves, the convergence and the goodness of the classical solution are analyzed, too. Finally, as the problem of the Euler shear buckling stress evaluation is a very important topic for a variety of structures, (e.g. ship ones), two numerical applications are carried out, in order to highlight the role of the uniaxial stresses on the plating scantling procedures and the goodness of the proposed formulas.

Keywords: Buckling analysis, Shear, Uniaxial Stresses.

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Authors: F. Fekak, A. Gravouil, M. Brun, B. Depale

Abstract:

During an earthquake, a bridge crane may be subjected to multiple impacts between crane wheels and rail. In order to model such phenomena, a time-history dynamic analysis with a multi-scale approach is performed. The high frequency aspect of the impacts between wheels and rails is taken into account by a Lagrange explicit event-capturing algorithm based on a velocity-impulse formulation to resolve contacts and impacts. An implicit temporal scheme is used for the rest of the structure. The numerical coupling between the implicit and the explicit schemes is achieved with a heterogeneous asynchronous time-integrator.

Keywords: Earthquake, bridge crane, heterogeneous asynchronous time-integrator, impacts.

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Authors: Hassen M. Ouakad

Abstract:

In this paper, the influence of van der Waals, as well as electrostatic forces on the structural behavior of MEMS and NEMS actuators, has been investigated using of a Euler-Bernoulli beam continuous model. In the proposed nonlinear model, the electrostatic fringing-fields and the mid-plane stretching (geometric nonlinearity) effects have been considered. The nonlinear integro-differential equation governing the static structural behavior of the actuator has been derived. An original Galerkin-based reduced-order model has been developed to avoid problems arising from the nonlinearities in the differential equation. The obtained reduced-order model equations have been solved numerically using the Newton-Raphson method. The basic design parameters such as the pull-in parameters (voltage and deflection at pull-in), as well as the detachment length due to the van der Waals force of some investigated micro- and nano-actuators have been calculated. The obtained numerical results have been compared with some other existing methods (finite-elements method and finite-difference method) and the comparison showed good agreement among all assumed numerical techniques.

Keywords: MEMS, NEMS, fringing-fields, mid-plane stretching, Galerkin method.

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Authors: Wu Qinglong, Zhou Qicai, Xiong Xiaolei, Zhang Richeng

Abstract:

In order to achieve the layout and size optimization of the web members of tower crane boom, a truss topology and cross section size optimization method based on continuum is proposed considering three typical working conditions. Firstly, the optimization model is established by replacing web members with web plates. And the web plates are divided into several sub-domains so that periodic soft kill option (SKO) method can be carried out for topology optimization of the slender boom. After getting the optimized topology of web plates, the optimized layout of web members is formed through extracting the principal stress distribution. Finally, using the web member radius as design variable, the boom compliance as objective and the material volume of the boom as constraint, the cross section size optimization mathematical model is established. The size optimization criterion is deduced from the mathematical model by Lagrange multiplier method and Kuhn-Tucker condition. By comparing the original boom with the optimal boom, it is identified that this optimization method can effectively lighten the boom and improve its performance.

Keywords: Tower crane boom, topology optimization, size optimization, periodic, soft kill option, optimization criterion.

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Authors: M. Najafi, F. Rahimi Dehgolan

Abstract:

In this paper, the dynamic modeling of a single-link flexible beam with a tip mass is given by using Hamilton's principle. The link has been rotational and translational motion and it was assumed that the beam is moving with a harmonic velocity about a constant mean velocity. Non-linearity has been introduced by including the non-linear strain to the analysis. Dynamic model is obtained by Euler-Bernoulli beam assumption and modal expansion method. Also, the effects of rotary inertia, axial force, and associated boundary conditions of the dynamic model were analyzed. Since the complex boundary value problem cannot be solved analytically, the multiple scale method is utilized to obtain an approximate solution. Finally, the effects of several conditions on the differences among the behavior of the non-linear term, mean velocity on natural frequencies and the system stability are discussed.

Keywords: Non-linear vibration, stability, axially moving beam, bifurcation, multiple scales method.

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Authors: Martin Cermak, Stanislav Sysala

Abstract:

In this paper we present the efficient parallel implementation of elastoplastic problems based on the TFETI (Total Finite Element Tearing and Interconnecting) domain decomposition method. This approach allow us to use parallel solution and compute this nonlinear problem on the supercomputers and decrease the solution time and compute problems with millions of DOFs. In our approach we consider an associated elastoplastic model with the von Mises plastic criterion and the combination of linear isotropic-kinematic hardening law. This model is discretized by the implicit Euler method in time and by the finite element method in space. We consider the system of nonlinear equations with a strongly semismooth and strongly monotone operator. The semismooth Newton method is applied to solve this nonlinear system. Corresponding linearized problems arising in the Newton iterations are solved in parallel by the above mentioned TFETI. The implementation of this problem is realized in our in-house MatSol packages developed in MatLab.

Keywords: Isotropic-kinematic hardening, TFETI, domain decomposition, parallel solution.

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Authors: Riccardo Fratini, Riccardo Santini, Jacopo Serafini, Massimo Gennaretti, Stefano Panzieri

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This paper presents a nonlinear differential model, for a three-bladed horizontal axis wind turbine (HAWT) suited for control applications. It is based on a 8-dofs, lumped parameters structural dynamics coupled with a quasi-steady sectional aerodynamics. In particular, using the Euler-Lagrange Equation (Energetic Variation approach), the authors derive, and successively validate, such model. For the derivation of the aerodynamic model, the Greenbergs theory, an extension of the theory proposed by Theodorsen to the case of thin airfoils undergoing pulsating flows, is used. Specifically, in this work, the authors restricted that theory under the hypothesis of low perturbation reduced frequency k, which causes the lift deficiency function C(k) to be real and equal to 1. Furthermore, the expressions of the aerodynamic loads are obtained using the quasi-steady strip theory (Hodges and Ormiston), as a function of the chordwise and normal components of relative velocity between flow and airfoil Ut, Up, their derivatives, and section angular velocity ε˙. For the validation of the proposed model, the authors carried out open and closed-loop simulations of a 5 MW HAWT, characterized by radius R =61.5 m and by mean chord c = 3 m, with a nominal angular velocity Ωn = 1.266rad/sec. The first analysis performed is the steady state solution, where a uniform wind Vw = 11.4 m/s is considered and a collective pitch angle θ = 0.88◦ is imposed. During this step, the authors noticed that the proposed model is intrinsically periodic due to the effect of the wind and of the gravitational force. In order to reject this periodic trend in the model dynamics, the authors propose a collective repetitive control algorithm coupled with a PD controller. In particular, when the reference command to be tracked and/or the disturbance to be rejected are periodic signals with a fixed period, the repetitive control strategies can be applied due to their high precision, simple implementation and little performance dependency on system parameters. The functional scheme of a repetitive controller is quite simple and, given a periodic reference command, is composed of a control block Crc(s) usually added to an existing feedback control system. The control block contains and a free time-delay system eτs in a positive feedback loop, and a low-pass filter q(s). It should be noticed that, while the time delay term reduces the stability margin, on the other hand the low pass filter is added to ensure stability. It is worth noting that, in this work, the authors propose a phase shifting for the controller and the delay system has been modified as e^(−(T−γk)), where T is the period of the signal and γk is a phase shifting of k samples of the same periodic signal. It should be noticed that, the phase shifting technique is particularly useful in non-minimum phase systems, such as flexible structures. In fact, using the phase shifting, the iterative algorithm could reach the convergence also at high frequencies. Notice that, in our case study, the shifting of k samples depends both on the rotor angular velocity Ω and on the rotor azimuth angle Ψ: we refer to this controller as a spatial repetitive controller. The collective repetitive controller has also been coupled with a C(s) = PD(s), in order to dampen oscillations of the blades. The performance of the spatial repetitive controller is compared with an industrial PI controller. In particular, starting from wind speed velocity Vw = 11.4 m/s the controller is asked to maintain the nominal angular velocity Ωn = 1.266rad/s after an instantaneous increase of wind speed (Vw = 15 m/s). Then, a purely periodic external disturbance is introduced in order to stress the capabilities of the repetitive controller. The results of the simulations show that, contrary to a simple PI controller, the spatial repetitive-PD controller has the capability to reject both external disturbances and periodic trend in the model dynamics. Finally, the nominal value of the angular velocity is reached, in accordance with results obtained with commercial software for a turbine of the same type.

Keywords: Wind turbines, aeroelasticity, repetitive control, periodic systems.

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Authors: Xing-Jian Li, Shen Qu

Abstract:

The Smith arithmetic determinant is investigated in this paper. By using two different methods, we derive the explicit formula for the Smith arithmetic determinant.

Keywords: Elementary row transformation, Euler function, Matrix decomposition, Smith arithmetic determinant.

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Authors: Dimitris Varsamis, Nicholas Karampetakis

Abstract:

It is well known, that any interpolating polynomial p (x, y) on the vector space Pn,m of two-variable polynomials with degree less than n in terms of x and less than m in terms of y, has various representations that depends on the basis of Pn,m that we select i.e. monomial, Newton and Lagrange basis e.t.c.. The aim of this short note is twofold : a) to present transformations between the coordinates of the polynomial p (x, y) in the aforementioned basis and b) to present transformations between these bases.

Keywords: Bivariate interpolation polynomial, Polynomial basis, Transformations.

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Authors: Sara Bilal, Abdi Omar Shuriye, Raihan Othman

Abstract:

Numerical Methods is a course that can be conducted using workshops and group discussion. This study has been implemented on undergraduate students of level two at the Faculty of Engineering, International Islamic University Malaysia. The Numerical Method course has been delivered to two Sections 1 and 2 with 44 and 22 students in each section, respectively. Systematic steps have been followed to apply the student centered learning approach in teaching Numerical Method course. Initially, the instructor has chosen the topic which was Euler’s Method to solve Ordinary Differential Equations (ODE) to be learned. The students were then divided into groups with five members in each group. Initial instructions have been given to the group members to prepare their subtopics before meeting members from other groups to discuss the subtopics in an expert group inside the classroom. For the time assigned for the classroom discussion, the setting of the classroom was rearranged to accommodate the student centered learning approach. Teacher strength was by monitoring the process of learning inside and outside the class. The students have been assessed during the migrating to the expert groups, recording of a video explanation outside the classroom and during the final examination. Euler’s Method to solve the ODE was set as part of Question 3(b) in the final exam. It is observed that none of the students from both sections obtained a zero grade in Q3(b), compared to Q3(a) and Q3(c). Also, for Section 1(44 students), 29 students obtained the full mark of 7/7, while only 10 obtained 7/7 for Q3(a) and no students obtained 6/6 for Q3(c). Finally, we can recommend that the Numerical Method course be moved toward more student-centered Learning classrooms where the students will be engaged in group discussion rather than having a teacher one man show.

Keywords: Teacher centered learning, student centered learning, mathematic, numerical methods.

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Authors: Xie Kefeng, Zhang He

Abstract:

For the stability and control demand of offshore small floating platform, a 2-HUS/U parallel mechanism was presented as offshore platform. Inverse kinematics was obtained by institutional constraint equation, and the dynamic model of offshore 2-HUS/U parallel platform was derived based on rigid body’s Lagrangian method. The equivalent moment of inertia, damping and driving force/torque variation of offshore 2-HUS/U parallel platform were analyzed. A numerical example shows that, for parallel platform of given motion, system’s equivalent inertia changes 1.25 times maximally. During the movement of platform, they change dramatically with the system configuration and have coupling characteristics. The maximum equivalent drive torque is 800 N. At the same time, the curve of platform’s driving force/torque is smooth and has good sine features. The control system needs to be adjusted according to kinetic equation during stability and control and it provides a basis for the optimization of control system.

Keywords: 2-HUS/U platform, Dynamics, Lagrange, Parallel platform.

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Authors: Khin Fai Chen, Jee-Hou Ho, Eng Hwa Yap

Abstract:

An Acoustic Micro-Energy Harvester (AMEH) is developed to convert wasted acoustical energy into useful electrical energy. AMEH is mathematically modeled using Lumped Element Modelling (LEM) and Euler-Bernoulli beam (EBB) modelling. An experiment is designed to validate the mathematical model and assess the feasibility of AMEH. Comparison of theoretical and experimental data on critical parameter value such as Mm, Cms, dm and Ceb showed the variances are within 1% to 6%, which is reasonably acceptable. Then, AMEH undergoes bandwidth tuning for performance optimization. The AMEH successfully produces 0.9V/(m/s^2) and 1.79μW/(m^2/s^4) at 60Hz and 400kΩ resistive load which only show variances about 7% compared to theoretical data. At 1g and 60Hz resonance frequency, the averaged power output is about 2.2mW which fulfilled a range of wireless sensors and communication peripherals power requirements. Finally, the design for AMEH is assessed, validated and deemed as a feasible design.

Keywords: Piezoelectric, acoustic, energy harvester, thermoacoustic.

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Authors: Chung-Chun Hsiao, Yu-Kai, Ting, Kai-Yuan Liu, Pang-Wei Yen, Jia-Ying Tu

Abstract:

In this paper, a new design of spherical robotic system based on the concepts of gimbal structure and gyro dynamics is presented. Robots equipped with multiple wheels and complex steering mechanics may increase the weight and degrade the energy transmission efficiency. In addition, the wheeled and legged robots are relatively vulnerable to lateral impact and lack of lateral mobility. Therefore, the proposed robotic design uses a spherical shell as the main body for ground locomotion, instead of using wheel devices. Three spherical shells are structured in a similar way to a gimbal device and rotate like a gyro system. The design and mechanism of the proposed robotic system is introduced. In addition, preliminary results of the dynamic model based on the principles of planar rigid body kinematics and Lagrangian equation are included. Simulation results and rig construction are presented to verify the concepts.

Keywords: Gyro, gimbal, Lagrange equation, spherical robots.

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Authors: Bence Kővári, ZSolt Kertész

Abstract:

This paper proposes a stroke extraction method for use in off-line signature verification. After giving a brief overview of the current ongoing researches an algorithm is introduced for detecting and following strokes in static images of signatures. Problems like the handling of junctions and variations in line width and line intensity are discussed in detail. Results are validated by both using an existing on-line signature database and by employing image registration methods.

Keywords: Stroke extraction, spline fitting, off-line signatureverification, image registration.

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Authors: Gholam Reza Koochaki

Abstract:

This work presents the highly accurate numerical calculation of the natural frequencies for functionally graded beams with simply supported boundary conditions. The Timoshenko first order shear deformation beam theory and the higher order shear deformation beam theory of Reddy have been applied to the functionally graded beams analysis. The material property gradient is assumed to be in the thickness direction. The Hamilton-s principle is utilized to obtain the dynamic equations of functionally graded beams. The influences of the volume fraction index and thickness-to-length ratio on the fundamental frequencies are discussed. Comparison of the numerical results for the homogeneous beam with Euler-Bernoulli beam theory results show that the derived model is satisfactory.

Keywords: Functionally graded beam, Free vibration, Hamilton's principle.

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Authors: A. Zerkane, K. El Bikri, R. Benamar

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The purpose of the present paper is to show that the problem of geometrically nonlinear free vibrations of functionally graded beams (FGB) with immovable ends can be reduced to that of isotropic homogeneous beams with effective bending stiffness and axial stiffness parameters by using an homogenization procedure. The material properties of the functionally graded composites examined are assumed to be graded in the thickness direction and estimated through the rule of mixture. The theoretical model is based on the Euler-Bernouilli beam theory and the Von Kármán geometrical nonlinearity assumptions. Hamilton’s principle is applied and a multimode approach is derived to calculate the fundamental nonlinear frequency parameters, which are found to be in a good agreement with the published results. The non-dimensional curvatures associated to the nonlinear fundamental mode are also given for various vibration amplitudes in the case of clamped-clamped FGB.

Keywords: Nonlinear vibrations, functionally graded materials, homogenization procedure.

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Authors: S. Babitha, J. Baskar Babujee

Abstract:

A prime cordial labeling of a graph G with vertex set V is a bijection f from V to {1, 2, ..., |V |} such that each edge uv is assigned the label 1 if gcd(f(u), f(v)) = 1 and 0 if gcd(f(u), f(v)) > 1, then the number of edges labeled with 0 and the number of edges labeled with 1 differ by at most 1. In this paper we exhibit some characterization results and new constructions on prime cordial graphs.

Keywords: Prime cordial, tree, Euler, bijective, function.

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Authors: T. C. Manjunath, B. Bandyopadhyay

Abstract:

Active vibration control is an important problem in structures. The objective of active vibration control is to reduce the vibrations of a system by automatic modification of the system-s structural response. In this paper, the modeling and design of a fast output sampling feedback controller for a smart flexible beam system embedded with shear sensors and actuators for SISO system using Timoshenko beam theory is proposed. FEM theory, Timoshenko beam theory and the state space techniques are used to model the aluminum cantilever beam. For the SISO case, the beam is divided into 5 finite elements and the control actuator is placed at finite element position 1, whereas the sensor is varied from position 2 to 5, i.e., from the nearby fixed end to the free end. Controllers are designed using FOS method and the performance of the designed FOS controller is evaluated for vibration control for 4 SISO models of the same plant. The effect of placing the sensor at different locations on the beam is observed and the performance of the controller is evaluated for vibration control. Some of the limitations of the Euler-Bernoulli theory such as the neglection of shear and axial displacement are being considered here, thus giving rise to an accurate beam model. Embedded shear sensors and actuators have been considered in this paper instead of the surface mounted sensors and actuators for vibration suppression because of lot of advantages. In controlling the vibration modes, the first three dominant modes of vibration of the system are considered.

Keywords: Smart structure, Timoshenko beam theory, Fast output sampling feedback control, Finite Element Method, State space model, SISO, Vibration control, LMI

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Authors: E. Abedi, A. Ahmadi Nadooshan, S. Salehi

Abstract:

Modeling and vibration of a flexible link manipulator with tow flexible links and rigid joints are investigated which can include an arbitrary number of flexible links. Hamilton principle and finite element approach is proposed to model the dynamics of flexible manipulators. The links are assumed to be deflection due to bending. The association between elastic displacements of links is investigated, took into account the coupling effects of elastic motion and rigid motion. Flexible links are treated as Euler-Bernoulli beams and the shear deformation is thus abandoned. The dynamic behavior due to flexibility of links is well demonstrated through numerical simulation. The rigid-body motion and elastic deformations are separated by linearizing the equations of motion around the rigid body reference path. Simulation results are shown on for both position and force trajectory tracking tasks in the presence of varying parameters and unknown dynamics remarkably well. The proposed method can be used in both dynamic simulation and controller design.

Keywords: Flexible manipulator, flexible link, dynamicmodeling, end point.

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Authors: Ying-jie Zhang, Li-ling Ge

Abstract:

This paper presents an improved image segmentation model with edge preserving regularization based on the piecewise-smooth Mumford-Shah functional. A level set formulation is considered for the Mumford-Shah functional minimization in segmentation, and the corresponding partial difference equations are solved by the backward Euler discretization. Aiming at encouraging edge preserving regularization, a new edge indicator function is introduced at level set frame. In which all the grid points which is used to locate the level set curve are considered to avoid blurring the edges and a nonlinear smooth constraint function as regularization term is applied to smooth the image in the isophote direction instead of the gradient direction. In implementation, some strategies such as a new scheme for extension of u+ and u- computation of the grid points and speedup of the convergence are studied to improve the efficacy of the algorithm. The resulting algorithm has been implemented and compared with the previous methods, and has been proved efficiently by several cases.

Keywords: Energy minimization, image segmentation, level sets, edge regularization.

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Authors: F. Rahimi Dehgolan, S. E. Khadem, S. Bab, M. Najafee

Abstract:

Nowadays, using rotating systems like shafts and disks in industrial machines have been increased constantly. Dynamic stability is one of the most important factors in designing rotating systems. In this study, linear frequencies and stability of a coupled continuous flexible rotor-disk-blades system are studied. The Euler-Bernoulli beam theory is utilized to model the blade and shaft. The equations of motion are extracted using the extended Hamilton principle. The equations of motion have been simplified using the Coleman and complex transformations method. The natural frequencies of the linear part of the system are extracted, and the effects of various system parameters on the natural frequencies and decay rates (stability condition) are clarified. It can be seen that the centrifugal stiffening effect applied to the blades is the most important parameter for stability of the considered rotating system. This result highlights the importance of considering this stiffing effect in blades equation.

Keywords: Rotating shaft, flexible blades, centrifugal stiffening, stability.

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