Journal of Dynamic Systems Measurement and Control-Transactions of the Asme最新文献_第5页

Experimental Validation of a Bio-Inspired Thruster 仿生推进器的实验验证

IF 1.7 4区计算机科学

Journal of Dynamic Systems Measurement and Control-Transactions of the Asme Pub Date : 2021-08-01 DOI: 10.1115/1.4050258

D. Costa, G. Palmieri, D. Scaradozzi, M. Callegari

{"title":"Experimental Validation of a Bio-Inspired Thruster","authors":"D. Costa, G. Palmieri, D. Scaradozzi, M. Callegari","doi":"10.1115/1.4050258","DOIUrl":"https://doi.org/10.1115/1.4050258","url":null,"abstract":"\u0000 Bio-inspired solutions have been deeply investigated in the last two decades as a source of propulsive improvement for autonomous underwater vehicles. Despite the efforts made to pursue the substantial potential payoffs of marine animals' locomotion, the performance of biological swimmers is still far to reach. The possibility to design a machine capable of propelling itself like a marine animal strongly depends on the understanding of the mechanics principles underlying biological swimming. Therefore, the adoption of advanced simulation and measurement techniques is fundamental to investigate the fluid–structure interaction phenomena of aquatic animals' locomotion. Among those, computational fluid dynamics represents an invaluable tool to assess the propulsive loads due to swimming. However, the numerical predictions must be validated before they can be applied to the design of a bio-inspired robot. To this end, this paper presents the experimental setup devised to validate the fluid dynamics analysis performed on an oscillating foil. The numerical predictions led to the design of a strain gages-based sensor, which exploits the deflection and twisting of the foil shaft to indirectly measure the propulsive loads and obtain a complete dynamic characterization of the oscillating foil. The results obtained from the experiments showed a good agreement between the numerical predictions and the measured loads; the test equipment also allowed to investigate the potential benefits of a slender fish-like body placed before the spinning fin. Therefore, in future work, the system will be employed to validate the analysis performed on more sophisticated modes of locomotion.","PeriodicalId":54846,"journal":{"name":"Journal of Dynamic Systems Measurement and Control-Transactions of the Asme","volume":null,"pages":null},"PeriodicalIF":1.7,"publicationDate":"2021-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74162553","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

Leader-Following Consensus Over Acyclic Switching Digraphs 无循环交换有向图上的领导跟随共识

IF 1.7 4区计算机科学

Journal of Dynamic Systems Measurement and Control-Transactions of the Asme Pub Date : 2021-08-01 DOI: 10.1115/1.4050507

Changran He, Jie Huang

引用次数: 3

Upper Bound of Power Harvested by an On-Off Electrical Damping in a State Space System 状态空间系统中通断电阻尼收集功率的上界

IF 1.7 4区计算机科学

Journal of Dynamic Systems Measurement and Control-Transactions of the Asme Pub Date : 2021-08-01 DOI: 10.1115/1.4050406

Viet Duc La

引用次数: 1

Coordinated Control of Flexible Cables With Human-Like Dual Manipulators 类人双机械手柔性电缆的协调控制

IF 1.7 4区计算机科学

Journal of Dynamic Systems Measurement and Control-Transactions of the Asme Pub Date : 2021-08-01 DOI: 10.1115/1.4050398

N. Lv, Jianhua Liu, Yunyi Jia

{"title":"Coordinated Control of Flexible Cables With Human-Like Dual Manipulators","authors":"N. Lv, Jianhua Liu, Yunyi Jia","doi":"10.1115/1.4050398","DOIUrl":"https://doi.org/10.1115/1.4050398","url":null,"abstract":"\u0000 Due to the flexibility and high degrees-of-freedom of flexible cables, their dynamic modeling and precise control are challenging. In this paper, the dynamic modeling and control of flexible cables with human-like dual manipulators are studied to deploy them on a plane and form the desired shapes automatically. First, we establish a dynamic model of flexible cables based on a discrete elastic rod model. This model can simulate their stretching, bending, and twisting deformations. Then, we consider the collisions, contacts, and frictions between the flexible cables and the plane, add kinematic constraints to the model, and finally obtain an implementable dynamic solution of the model. Next, we propose dynamic control schemes including parallel dual-arm control and coordinated dual-arm control to deploy the flexible cables on a plane and form the desired shapes for dual-arm controls. Finally, experimental and simulation studies are carried out to illustrate the effectiveness of the dynamic model and the validity of the control schemes. The results show that the model can successfully demonstrate the deformations of flexible cables, and the proposed control schemes can successfully manipulate flexible cables in different tasks.","PeriodicalId":54846,"journal":{"name":"Journal of Dynamic Systems Measurement and Control-Transactions of the Asme","volume":null,"pages":null},"PeriodicalIF":1.7,"publicationDate":"2021-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85172637","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 4

Simultaneous Fault Detection and Control for Continuous-Time Switched Takagi–Sugeno Fuzzy Systems With State Jumps 具有状态跳变的连续时间切换Takagi-Sugeno模糊系统的同步故障检测与控制

IF 1.7 4区计算机科学

Journal of Dynamic Systems Measurement and Control-Transactions of the Asme Pub Date : 2021-08-01 DOI: 10.1115/1.4050254

Ayyoub Ait Ladel, A. Benzaouia, R. Outbib, M. Ouladsine

引用次数: 2

A Robust Detector for Automated Welding Seam Tracking System 一种用于焊缝自动跟踪系统的鲁棒检测器

IF 1.7 4区计算机科学

Journal of Dynamic Systems Measurement and Control-Transactions of the Asme Pub Date : 2021-07-01 DOI: 10.1115/1.4049547

Yanbiao Zou, Mingquan Zhu, Xiangzhi Chen

{"title":"A Robust Detector for Automated Welding Seam Tracking System","authors":"Yanbiao Zou, Mingquan Zhu, Xiangzhi Chen","doi":"10.1115/1.4049547","DOIUrl":"https://doi.org/10.1115/1.4049547","url":null,"abstract":"\u0000 Accurate locating of the weld seam under strong noise is the biggest challenge for automated welding. In this paper, we construct a robust seam detector on the framework of deep learning object detection algorithm. The representative object algorithm, a single shot multibox detector (SSD), is studied to establish the seam detector framework. The improved SSD is applied to seam detection. Under the SSD object detection framework, combined with the characteristics of the seam detection task, the multifeature combination network (MFCN) is proposed. The network comprehensively utilizes the local information and global information carried by the multilayer features to detect a weld seam and realizes the rapid and accurate detection of the weld seam. To solve the problem of single-frame seam image detection algorithm failure under continuous super-strong noise, the sequence image multifeature combination network (SMFCN) is proposed based on the MFCN detector. The recurrent neural network (RNN) is used to learn the temporal context information of convolutional features to accurately detect the seam under continuous super-noise. Experimental results show that the proposed seam detectors are extremely robust. The SMFCN can maintain extremely high detection accuracy under continuous super-strong noise. The welding results show that the laser vision seam tracking system using the SMFCN can ensure that the welding precision meets industrial requirements under a welding current of 150 A.","PeriodicalId":54846,"journal":{"name":"Journal of Dynamic Systems Measurement and Control-Transactions of the Asme","volume":null,"pages":null},"PeriodicalIF":1.7,"publicationDate":"2021-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84221346","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 13

Analytical and Experimental Decentralized Adaptive Control of a High-Degrees-of-Freedom Robot Manipulator 高自由度机械臂分散自适应控制的分析与实验研究

IF 1.7 4区计算机科学

Journal of Dynamic Systems Measurement and Control-Transactions of the Asme Pub Date : 2021-07-01 DOI: 10.1115/1.4049795

Alex Bertino, P. Naseradinmousavi, A. Kelkar

引用次数: 6

Event-Triggered Adaptive Higher-Order Sliding Mode Tracking Control for Steer-by-Wire Systems 线控转向系统的事件触发自适应高阶滑模跟踪控制

IF 1.7 4区计算机科学

Journal of Dynamic Systems Measurement and Control-Transactions of the Asme Pub Date : 2021-07-01 DOI: 10.1115/1.4049794

B. Ma, Zezheng Wang, Yongfu Wang

{"title":"Event-Triggered Adaptive Higher-Order Sliding Mode Tracking Control for Steer-by-Wire Systems","authors":"B. Ma, Zezheng Wang, Yongfu Wang","doi":"10.1115/1.4049794","DOIUrl":"https://doi.org/10.1115/1.4049794","url":null,"abstract":"\u0000 The model uncertainty of the steer-by-wire (SbW) system and the limitation of communication bandwidth will have a negative effect on its control performance. For this reason, this paper proposes an event-triggered high-order sliding mode control for uncertain SbW systems. First, to save communication and computing resources, an event-triggering mechanism that depends on the system state is proposed for the SbW system, such that both communication and computing resources can be saved. Second, an event-triggered adaptive higher-order sliding mode (ET-AHOSM) control is proposed for the closed-loop SbW system. The assumptions about the global Lipschitz of nonlinearity and the a priori bounds of the disturbance are no longer required in the control design. Much importantly, the control input continuity can be guaranteed even there is the event-triggering communication in the controller-to-actuator channel. Theoretical analysis shows that the global practical finite-time stability of the closed-loop SbW system can be obtained while avoiding Zeno behavior of the event-triggered control system. Finally, numerical simulation and experiments show that the designed control method can reduce more than 1/2 of the calculation and communication resources while ensuring satisfactory tracking accuracy.","PeriodicalId":54846,"journal":{"name":"Journal of Dynamic Systems Measurement and Control-Transactions of the Asme","volume":null,"pages":null},"PeriodicalIF":1.7,"publicationDate":"2021-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91383303","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Performance Improvement of a Two-Stage Proportional Valve With Internal Hydraulic Position Feedback 基于内部液压位置反馈的两级比例阀性能改进研究

IF 1.7 4区计算机科学

Journal of Dynamic Systems Measurement and Control-Transactions of the Asme Pub Date : 2021-07-01 DOI: 10.1115/1.4049793

He Wang, Xiaohu Wang, Jiahai Huang, Long Quan

{"title":"Performance Improvement of a Two-Stage Proportional Valve With Internal Hydraulic Position Feedback","authors":"He Wang, Xiaohu Wang, Jiahai Huang, Long Quan","doi":"10.1115/1.4049793","DOIUrl":"https://doi.org/10.1115/1.4049793","url":null,"abstract":"\u0000 The present research concentrates on the performance improvement of a two-stage proportional valve with internal hydraulic position feedback which is named as the Valvistor valve. In this paper, the performance constraint of this valve is identified and a novel electronic closed-loop control strategy with an integral-separation fuzzy proportional-integral-derivative controller is proposed to improve the valve performance, including the static characteristics and the dynamic characteristics. The results show that in the Valvistor valve, the comparison point and the feedback loop for the internal hydraulic position feedback is only in the main stage, while the input is in the pilot stage. This leads to the poor performance of this valve. The control strategy is very effective and the performance of the Valvistor valve is improved. With the control strategy, the error of the poppet displacement is reduced from 4.9% to 2.1% by adjusting the spool displacement in the pilot stage in real-time and the flow error is reduced from 5.3% to 2.3%. The dead zone of the poppet displacement and the flow is eliminated. The hysteresis is reduced from 5.3% to 2.6% and the linearity is improved. The overshoot is reduced from 0.06 to 0.02 mm and the settling time is reduced from 0.5 to 0.2 s. Moreover, the bandwidth is increased from 8 to 16 Hz.","PeriodicalId":54846,"journal":{"name":"Journal of Dynamic Systems Measurement and Control-Transactions of the Asme","volume":null,"pages":null},"PeriodicalIF":1.7,"publicationDate":"2021-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86517398","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 4

On the Global Behavior of a Geometric PDAV Controller by Means of a Geometrically Exact Linearization 用几何精确线性化方法研究几何PDAV控制器的全局行为

IF 1.7 4区计算机科学

Journal of Dynamic Systems Measurement and Control-Transactions of the Asme Pub Date : 2021-07-01 DOI: 10.1115/1.4049552

Michalis Ramp, E. Papadopoulos

引用次数: 1