发布求助
文献互助 智能选刊 最新文献

Volume 2: 16th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC)最新文献

筛选
英文 中文
Period-1 to Period-2 Motions in a Discontinuous Oscillator 不连续振荡器的周期1到周期2运动
Volume 2: 16th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22712
Siyu Guo, A. Luo
{"title":"Period-1 to Period-2 Motions in a Discontinuous Oscillator","authors":"Siyu Guo, A. Luo","doi":"10.1115/detc2020-22712","DOIUrl":"https://doi.org/10.1115/detc2020-22712","url":null,"abstract":"\u0000 In this paper, grazing bifurcations on bifurcation trees in a discontinuous dynamical oscillator are discussed. Once the grazing bifurcation occurs, periodic motions switches from the old motion to a new one. Thus, grazing bifurcations on a bifurcation tree of period-1 to period-2 motions varying spring stiffness are presented in a discontinuous oscillator with three domains divided by circular boundaries. The stability and bifurcations of period-1 and period-2 motions are discussed. From analytical predictions, periodic motions are simulated numerically. Stiffness effects on the periodic motions are discussed. Such studies will help one understand parameter effects in discontinuous dynamical systems, which can be applied for system design and control.","PeriodicalId":236538,"journal":{"name":"Volume 2: 16th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131711295","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
The Adjoint Gradient Method for Time-Optimal Control of a Moon Landing: Ascent, Descent, and Abort 伴随梯度法用于登月的时间最优控制:上升、下降和中止
Volume 2: 16th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22034
Philipp Eichmeir, K. Nachbagauer, W. Steiner
{"title":"The Adjoint Gradient Method for Time-Optimal Control of a Moon Landing: Ascent, Descent, and Abort","authors":"Philipp Eichmeir, K. Nachbagauer, W. Steiner","doi":"10.1115/detc2020-22034","DOIUrl":"https://doi.org/10.1115/detc2020-22034","url":null,"abstract":"\u0000 This article illustrates a novel approach for the determination of time-optimal controls for dynamic systems under observance of end conditions. Such problems arise in robotics, e.g. if the control of a robot has to be designed such that the time for a rest-to-rest maneuver becomes a minimum. So far, such problems have been considered as two-point boundary value problems, which are hard to solve and require an initial guess close to the optimal solution. The aim of this contribution is the development of an iterative, gradient based solution strategy for solving such problems. As an example, a Moon-landing as in the Apollo program, will be considered. In detail, we discuss the ascent, descent and abort maneuvers of the Apollo Lunar Excursion Module (LEM) to and from the Moon’s surface in minimum time. The goal is to find the control of the thrust nozzle of the LEM to minimize the final time.","PeriodicalId":236538,"journal":{"name":"Volume 2: 16th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122608744","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A Jupyter Notebook Environment for Multibody Dynamics 多体动力学的Jupyter Notebook环境
Volume 2: 16th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22572
A. Gaut, J. Cameron, Abhinandan Jain
{"title":"A Jupyter Notebook Environment for Multibody Dynamics","authors":"A. Gaut, J. Cameron, Abhinandan Jain","doi":"10.1115/detc2020-22572","DOIUrl":"https://doi.org/10.1115/detc2020-22572","url":null,"abstract":"\u0000 DARTS is a rigid/flexible multibody dynamics toolkit for the modeling and simulation of aerospace and robotic vehicles for engineering applications. In this paper we describe an on-line, browser-based environment using Jupyter notebooks to support training needs for the DARTS software. The suite of curated tutorial notebooks is organized into different topic areas, and into multiple themes within each topic area. The notebooks within a theme use a progression of examples for users to expand their understanding of the software. The topic areas include one on the DARTS multibody dynamics software and another one on the theory underlying the multibody dynamics formulation. We also describe a number of Jupyter extensions that were used — and some developed in house — to enhance the notebook interface for use with the dynamics simulation software. One significant extension we implemented allows the embedding of live 3D visualizations within simulation notebooks.","PeriodicalId":236538,"journal":{"name":"Volume 2: 16th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC)","volume":"2 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123808442","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Period-3 Motions in a Parametrically Exited Inverted Pendulum 参数导出倒立摆的周期3运动
Volume 2: 16th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22176
A. Luo, Chuan Guo
{"title":"Period-3 Motions in a Parametrically Exited Inverted Pendulum","authors":"A. Luo, Chuan Guo","doi":"10.1115/detc2020-22176","DOIUrl":"https://doi.org/10.1115/detc2020-22176","url":null,"abstract":"\u0000 In this paper, period-3 motions in a parametrically exited inverted pendulum are analytically investigated through a discrete implicit mapping method. The corresponding stability and bifurcation conditions of the period-3 motions are predicted through eigenvalue analysis. The symmetric and asymmetric period-3 motions are obtained on the bifurcation tree, and the period-doubling bifurcations of the asymmetric period-3 motions are observed. The saddle-node and Neimark bifurcations for symmetric period-3 motions are obtained. The saddle-bifurcations of the symmetric period-3 motions are for symmetric motion appearance (or vanishing) and onsets of asymmetric period-3 motion. Numerical simulations of the period-3 motions in the inverted pendulum are completed from analytical predictions for illustration of motion complexity and characteristics.","PeriodicalId":236538,"journal":{"name":"Volume 2: 16th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC)","volume":"2010 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127341221","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A Heterogeneous Model for Gait Analysis of the Lower-Limb and the Prosthesis Coupled System 下肢与假肢耦合系统步态分析的异质模型
Volume 2: 16th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22392
Yang Lv, H. Fang, Jian Xu, Qining Wang, Xiaoxu Zhang
{"title":"A Heterogeneous Model for Gait Analysis of the Lower-Limb and the Prosthesis Coupled System","authors":"Yang Lv, H. Fang, Jian Xu, Qining Wang, Xiaoxu Zhang","doi":"10.1115/detc2020-22392","DOIUrl":"https://doi.org/10.1115/detc2020-22392","url":null,"abstract":"\u0000 By considering the coupling effect between the healthy lower-limb and the passive prosthesis, this paper builds a heterogeneous dynamic model for gait analysis, where the motions of the healthy limb and the prosthesis are driven by the central pattern generator (CPG) and the hip joint swing, respectively. The foot-ground contact is modelled as the process of unilateral force reaction rather than the constraint to get a refined representation of the gait motion. The response of the heterogeneous model, solved by numerical calculation, is then analyzed by comparison with a real gait test. Preliminary results show that the heterogeneous model not only describes the amputee’s gait well but also reveals a new gait feature of period-doubling. Parameter analysis further indicates that the period-doubling gait will return to the single-period pattern by amplifying the vertical motion of the hip joint at the amputated side. This dynamic bifurcation, which mimics the process of hip swing adaption, provides new insight into the compensatory mechanism for lamely walking.","PeriodicalId":236538,"journal":{"name":"Volume 2: 16th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC)","volume":"07 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127753425","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Numerical Procedure for Non-Hertzian Wheel-Rail Contact Model Integrated in Quasi-Steady Railway Vehicle Motion Solver 准稳态轨道车辆运动求解中非赫兹轮轨接触模型的数值求解
Volume 2: 16th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22066
Takayuki Tanaka, H. Sugiyama
{"title":"Numerical Procedure for Non-Hertzian Wheel-Rail Contact Model Integrated in Quasi-Steady Railway Vehicle Motion Solver","authors":"Takayuki Tanaka, H. Sugiyama","doi":"10.1115/detc2020-22066","DOIUrl":"https://doi.org/10.1115/detc2020-22066","url":null,"abstract":"\u0000 Although the Hertzian contact theory is widely utilized in railway vehicle simulations with new wheel and rail profiles, the Hertzian contact assumptions would lead to inaccurate contact prediction for severely worn wheel and rail profiles due to their geometric conformity, causing non-elliptical contact shapes as well as pressure distribution. For this reason, various non-Hertzian contact models have been studied for use in vehicle dynamics simulations. Among others, a method proposed by Piotrowski and Kik has gained acceptance in predicting non-elliptical wheel-rail contact for vehicle dynamics simulations. Despite the elegant formulation and its accuracy, detailed online geometric calculation for non-elliptical contact shape is required for all the contact patches at every iteration, along with iterative evaluation of the force-deflection relationship. It leads to computation burdens for use in long-distance vehicle simulations. Therefore, in this study, an off-line based numerical procedure for non-Hertzian contact model is developed and integrated in the quasi-steady railway vehicle motion solver.","PeriodicalId":236538,"journal":{"name":"Volume 2: 16th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130494753","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Adaptive Neural Network Based Predictive Control of Nonlinear Systems With Slow Dynamics 基于自适应神经网络的慢动态非线性系统预测控制
Volume 2: 16th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC) Pub Date : 2020-08-17 DOI: 10.1115/DETC2020-22358
Mark Spiller, F. Bakhshande, D. Söffker
{"title":"Adaptive Neural Network Based Predictive Control of Nonlinear Systems With Slow Dynamics","authors":"Mark Spiller, F. Bakhshande, D. Söffker","doi":"10.1115/DETC2020-22358","DOIUrl":"https://doi.org/10.1115/DETC2020-22358","url":null,"abstract":"\u0000 In this paper a data-driven approach for model-free control of nonlinear systems with slow dynamics is proposed. The system behavior is described using a local model respectively a neural network. The network is updated online based on a Kalman filter. By predicting the system behavior two control approaches are discussed. One is obtained by calculating a control input from the one step ahead prediction equation using least squares, the other is obtained by solving a standard linear model predictive control problem. The approaches are tested on a constrained nonlinear MIMO system with slow dynamics.","PeriodicalId":236538,"journal":{"name":"Volume 2: 16th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC)","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115991912","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
DynManto: A Matlab Toolbox for the Simulation and Analysis of Multibody Systems DynManto:多体系统仿真与分析的Matlab工具箱
Volume 2: 16th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22336
A. Held, A. Moghadasi, R. Seifried
{"title":"DynManto: A Matlab Toolbox for the Simulation and Analysis of Multibody Systems","authors":"A. Held, A. Moghadasi, R. Seifried","doi":"10.1115/detc2020-22336","DOIUrl":"https://doi.org/10.1115/detc2020-22336","url":null,"abstract":"\u0000 The Dynamic Modeling and Analysis Toolbox DynManto is an acedemic Matlab code which allows the modeling, simulation and sensitivity analysis of spatial multibody systems. The kinematics of rigid and flexible bodies is described by the floating frame of reference formulation and the body properties are provided by standard input data files. In this way the evaluation of the equations of motion is computationally efficient and an arbitrary parameterization of the system can be achieved. The latter is important in the automated adjoint sensitivity analysis of multibody systems, which yields gradient information for system analyses, parameter identifications or gradient-based optimizations. The capabilities of DynManto are demonstrated by the application examples of a flexible two-arm manipulator and Chebyshev’s Lambda Mechanism.","PeriodicalId":236538,"journal":{"name":"Volume 2: 16th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114065606","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 5
Invariant Manifolds in Human Joint Angle Analysis During Walking Gait 人体步行步态中关节角度分析的不变流形
Volume 2: 16th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22241
Sandesh G. Bhat, T. Sugar, S. Redkar
{"title":"Invariant Manifolds in Human Joint Angle Analysis During Walking Gait","authors":"Sandesh G. Bhat, T. Sugar, S. Redkar","doi":"10.1115/detc2020-22241","DOIUrl":"https://doi.org/10.1115/detc2020-22241","url":null,"abstract":"\u0000 The complex dynamics of human gait is yet to be completely understood. Researchers have quantified stability of walking gait using Floquet multipliers as well as Lyapunov exponents. In this article, we utilize the techniques and tools from dynamical system theory and invariant manifolds to map the gait data onto a time invariant representation of a dynamical system. As an example, the complex behavior of the joint angle during walking was studied using a conformal mapping approach that transformed the time periodic system into a time invariant linear system. Time-delay embedding was used to reconstruct the dynamics of the original gait system with time series kinematic data. This minimal realization of the system was used to construct a Single Degree of Freedom (SDOF) oscillator. The time evolution of the linear oscillatory system was mapped back using the conformal mapping derived using Lyapunov-Floquet Theory. This algorithm was verified for walking gait kinematics data for two healthy human subjects. A comparison was drawn between the phase space behavior of the original time periodic system and the remapped time invariant system. The two systems showed good correlation. The algorithm resulted in a well correlated phase space representation.","PeriodicalId":236538,"journal":{"name":"Volume 2: 16th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116080547","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Collocated Position Control of Oscillatory System in Presence of Delay 存在时滞的振荡系统的配置位置控制
Volume 2: 16th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22362
Bence Szaksz, G. Stépán
{"title":"Collocated Position Control of Oscillatory System in Presence of Delay","authors":"Bence Szaksz, G. Stépán","doi":"10.1115/detc2020-22362","DOIUrl":"https://doi.org/10.1115/detc2020-22362","url":null,"abstract":"\u0000 The stability of the collocated position control of a mass is studied when a pendulum is attached to it. The simplest proportional-derivative (PD) controller is applied, but the relevant constant time delay is taken into account. The linearized governing equations of the system are investigated. Stability charts are constructed for different pendulum parameters. Closed form expression is derived for the critical time delay; for delay values larger than the critical one, the PD controller cannot stabilize the desired position of the mass. The frequencies of the self-excited vibrations at the stability boundaries have essential role in identifying the types of loss of stability.","PeriodicalId":236538,"journal":{"name":"Volume 2: 16th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC)","volume":"187 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121925133","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
首页 上一页 下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：481959085
Book学术官方微信