Готові списки джерел за темами / Kinematic and dynamic parameter

Добірка наукової літератури з теми "Kinematic and dynamic parameter"

Автор: Grafiati
Опубліковано: 6 вересня 2023

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Статті в журналах з теми "Kinematic and dynamic parameter"

1

Kalani, Hadi, and Alireza Akbarzadeh. "Parameter Optimization of a Snake Robot Using Taguchi Method." Applied Mechanics and Materials 110-116 (October 2011): 4220–26. http://dx.doi.org/10.4028/www.scientific.net/amm.110-116.4220.

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In this paper, performance of a 16 link snake robot in serpentine locomotion is investigated. Key kinematics and dynamics parameters are identified. The aim of this paper is to minimize average power consumption per unit distance traveled. Dynamic and kinematics equations of snake robot are used to perform simulation and obtain results. Key kinematics parameters are identified. Taguchi method is utilized and orthogonal array table is constructed. ANOVA technique is used to analyze the statistical significance of kinematic and dynamic parameters. Taguchi method is used to determine optimum parameter settings effecting performance of snake robot. Finally, the snake robot is modeled in WEBOTS software and forward motion is obtained.
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2

Tang, Liang, Yi Zhang, and Hua Deng. "Dynamic Modeling and Analysis of Underactuated Prosthetic Hand." Advanced Materials Research 655-657 (January 2013): 400–407. http://dx.doi.org/10.4028/www.scientific.net/amr.655-657.400.

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Based on the kinematic equation of index finger, the trajectory space of fingertip is analyzed, and the structural parameters of underactuated prosthetic hand have been optimized by ADAMS, which compare the trajectory space with the index-finger. Using the modeling methods of Lagrange dynamics equation, the dynamic model is established for the three-joint underactuated prosthetic finger, whose kinematic and dynamic characteristics also are analyzed. Finally, by the construction of the virtual prototype and its introduction into ADAMS for the dynamics simulation, the correctness of kinematics and dynamics model is verified by the dynamics simulation of virtual prototype.
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3

Zhao, Jing-Shan, Xiao-Cheng Sun, and Song-Tao Wei. "Kinematics and Dynamics Analysis of a 3UPS-UPU-S Parallel Mechanism." Machines 11, no. 8 (August 18, 2023): 840. http://dx.doi.org/10.3390/machines11080840.

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In this paper, a two-rotational degrees of freedom parallel mechanism with five kinematic subchains (3UPS-UPU-S) (U, P, and S stand for universal joints, prismatic joints, and spherical joints) for an aerospace product is introduced, and its kinematic and dynamic characteristics are subsequently analyzed. The kinematic and dynamic analyses of this mechanism are carried out in screw coordinates. Firstly, the inverse kinematics is performed through the kinematic equations established by the velocity screws of each joint to obtain the position, posture, and velocity of each joint within the mechanism. Then, a dynamic modeling method with screw theory for multi-body systems is proposed. In this method, the momentum screws are established by the momentum and moment of momentum according to the fundamentals of screws. By using the kinematic parameters of joints, the dynamic analysis can be carried out through the dynamic equations formed by momentum screws and force screws. This method unifies the kinematic and dynamic analyses by expressing all parameters in screw form. The approach can be employed in the development of computational dynamics because of its simplified and straightforward analysis procedure and its high adaptability for different kinds of multi-body systems.
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4

Hwang, Yunn Lin, Thi Na Ta, and Cao Sang Tran. "Dynamic Analysis and Control of Hydraulic Machine System and Industrial Robotic Manipulators." Applied Mechanics and Materials 883 (July 2018): 1–7. http://dx.doi.org/10.4028/www.scientific.net/amm.883.1.

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Dynamic control on hydraulic machine system and kinematic control on industrial robotic manipulators are two studied topics in this research. The main objective of this study is to analyze dynamic, forward kinematic and inverse kinematic on a couple of mechanical systems and hydraulic mechanical systems in order to control these machines. The characteristics of hydraulic and manipulator robot parameters are firstly calculated by using dynamic theories. In the former topic, we perform an example on CNC machine tools which is designing a hydraulic controller to move a cutting tool along a circular path. Dynamics analysis, forward kinematics and inverse kinematics of industrial robotic are archived in the latter topic. Two experiments were also performed on RRR and RRRRRR manipulators by analyzing the inverse kinematic equations to make these robots follow the desired trajectories. This study takes innovations and achieves control improvement in different systems with optimization controller or trajectory planning.
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5

Yao, Di, Philipp Ulbricht, Stefan Tonutti, Kay Büttner, and Prokop Günther. "A novel approach for experimental identification of vehicle dynamic parameters." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 234, no. 10-11 (April 21, 2020): 2634–48. http://dx.doi.org/10.1177/0954407020908724.

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Pervasive applications of the vehicle simulation technology are a powerful motivation for the development of modern automobile industry. As basic parameters of road vehicle, vehicle dynamic parameters can significantly influence the ride comfort and dynamics of vehicle, and therefore have to be calculated accurately to obtain reliable vehicle simulation results. Aiming to develop a general solution, which is applicable to diverse test rigs with different mechanisms, a novel model-based parameter identification approach using optimized excitation trajectory is proposed in this paper to identify the vehicle dynamic parameters precisely and efficiently. The proposed approach is first verified against a virtual test rig using a universal mechanism. The simulation verification consists of four sections: (a) kinematic analysis, including the analysis of forward/inverse kinematic and singularity architecture; (b) dynamic modeling, in which three kinds of dynamic modeling method are used to derive the dynamic models for parameter identification; (c) trajectory optimization, which aims to search for the optimal trajectory to minimize the sensitivity of parameter identification to measurement noise; and (d) multibody simulation, by which vehicle dynamic parameters are identified based on the virtual test rig in the simulation environment. In addition to the simulation verification, the proposed parameter identification approach is applied to the real test rig (vehicle inertia measuring machine) in laboratory subsequently. Despite the mechanism difference between the virtual test rig and vehicle inertia measuring machine, this approach has shown an excellent portability. The experimental results indicate that the proposed parameter identification approach can effectively identify the vehicle dynamic parameters without a high requirement of movement accuracy.
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6

Kawasaki, Harushisa, and Toshimi Shimizu. "Symbolic Analysis of Robot Base Parameter Set Using Grobner-Basis." Journal of Robotics and Mechatronics 10, no. 6 (December 20, 1998): 475–81. http://dx.doi.org/10.20965/jrm.1998.p0475.

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We analyzed base parameters for closed-loop robots using robot symbolic analysis based on the completion procedure in polynomial ideal theory. The robot dynamics regressor is represented as a matrix of multivariate polynomials and reduced to normal form based on Buchberger's algorithm by constructing reduced Grobner basis from kinematic constrained equations. The linear independence of the reduced regressor's column vectors is studied by Gauss-Jordan elimination. Original dynamic parameters are regrouped and some eliminated, depending on results. This omits the need to solve kinematic constrained equations explicitly, deriving all base parameters systematically in theory. An example is shown using robot symbolic analysis system: ROSAM 11.
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7

Monfaredi, Reza, S. Mehdi Rezaei, and Ali Talebi. "A new observer-based adaptive controller for cooperative handling of an unknown object." Robotica 34, no. 7 (September 12, 2014): 1437–63. http://dx.doi.org/10.1017/s0263574714002379.

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SUMMARYThis paper presents a new observer-based adaptive controller for handling an object withunknowngeometry, center of mass, and inertia using a cooperative robotic system. The cooperative robotic system comprises three Cartesian robots, where robots and the grasped object form a closed-loop kinematic chain. The unknown object is approximated by three virtual links of unknown lengths rigidly attached to one another at the object's center of mass (COM). Due to the unknown COM and unknown inertia of the object, the lengths and inertia of these virtual links are unknown, resulting in kinematic and dynamic uncertainties in the control system. A parameter estimator is proposed to estimate the object's COM to compensate for kinematic uncertainties of the system. Moreover, a new dynamic adaptation law is developed to cope with dynamic uncertainties of the object. The dynamic equations of the cooperative system are transformed from joint space into task space. These task space dynamics are transformed into object space by passively decomposing the dynamics into two decoupled systems, i.e.lockedandshapedsystems. An adaptive controller is developed for the locked system, and the shaped system is controlled by a composite controller based on a PD controller plus a stabilizing damping term. The stability of the proposed controllers is shown using the passivity concept and Lyapunov theorem. Simulation results show that the closed-loop position error asymptotically converges to zero. It is also shown that kinematic and dynamic adaptation parameters converge to real and bounded values respectively.
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8

Jordan, Christopher E. "Scale effects in the kinematics and dynamics of swimming leeches." Canadian Journal of Zoology 76, no. 10 (October 1, 1998): 1869–77. http://dx.doi.org/10.1139/z98-131.

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Slender-bodied organisms swimming with whole-body undulations exhibit what appears to be a high degree of kinematic parameter conservation, which is independent of body size. However, organisms of very different sizes swim in fundamentally different physical realms, owing to the relative scaling of viscous and inertial fluid stresses as a function of size and speed. In light of the size-dependent fluid forces, the kinematic constancy suggests three hypotheses: (1) swimming organisms adopt a single "ideal" swimming mode requiring the modification of muscle forces or motor patterns through ontogeny, (2) swimming kinematics are determined predominantly by the passive mechanical interaction of the body and the fluid, resulting in a single swimming mode independent of absolute body size, or (3) while undulatory swimming kinematics may be similar between organisms, there are important size-dependent kinematic differences. In this study, I address this issue by examining the swimming kinematics and dynamics of the medicinal leech Hirudo medicinalis L. as a function of body size. Over a 5-fold increase in body length, the relative amplitude of body undulations during swimming did not change; however, swimming speed, propulsive wave speed, and propulsive wave frequency all decreased, while propulsive wave number increased slightly, strongly supporting hypothesis 2. To determine the source of the observed size-dependent swimming kinematics, I manipulated the dynamic viscosity of the organism's fluid environment to alter the constraints placed on swimming behavior by the physical surroundings. In the elevated-viscosity treatment, all kinematic parameters changed in the opposite direction to that predicted by hypothesis 2, rejecting both the idea that swimming kinematics are simply determined by passive mechanical interactions and that leeches have a target swimming mode under active control.
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9

Pisano, A. P., and Hong Tao Chen. "Coulomb Friction and Optimal Rocker Arm Ratio for High-Speed Cam Systems." Journal of Mechanisms, Transmissions, and Automation in Design 108, no. 3 (September 1, 1986): 340–44. http://dx.doi.org/10.1115/1.3258737.

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The operating speed of a high-speed cam system can be maximized by the proper choice of both kinematic and dynamic parameters of a lumped model. Considering rocker arm ratio as an unconstrained kinematic parameter and Coulomb friction as an unconstrained dynamic parameter, it was found that the camshaft speed at which toss occurred was characterized by several local extrema, all of which were sensitive to the presence of Coulomb friction. For a particular cam system and two separate cam lift curves, design charts have been developed to aid in the choice of optimal rocker arm ratio for maximum operating speed in the presence of Coulomb friction.
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10

Jin, Guang, Shuai Ma, and Zhenghui Li. "Dynamic Simulation Modeling of Industrial Robot Kinematics in Industry 4.0." Discrete Dynamics in Nature and Society 2022 (January 5, 2022): 1–11. http://dx.doi.org/10.1155/2022/3217360.

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This paper studies the kinematic dynamic simulation modeling of industrial robots in the Industry 4.0 environment and guides the kinematic dynamic simulation modeling of industrial robots in the Industry 4.0 environment in the context of the research. To address the problem that each parameter error has different degrees of influence on the end position error, a method is proposed to calculate the influence weight of each parameter error on the end position error based on the MD-H error model. The error model is established based on the MD-H method and the principle of differential transformation, and then the function of uniform variation of six joint angles with time t is constructed to ensure that each linkage geometric parameter is involved in the motion causing error accumulation. Through the analysis of the robot marking process, the inverse solution is optimized for multiple solutions, and a unique engineering solution is obtained. Linear interpolation, parabolic interpolation, polynomial interpolation, and spline curve interpolation are performed on the results after multisolution optimization in the joint angle, and the pros and cons of various interpolation results are analyzed. The trajectory planning and simulation of industrial robots in the Industry 4.0 environment are carried out by using a special toolbox. The advantages and disadvantages of the two planning methods are compared, and the joint space trajectory planning method is selected to study the planning of its third and fifth polynomials. The kinetic characteristics of the robot were simulated and tested by experimental methods, and the reliability of the simulation results of the kinetic characteristics was verified. The kinematic solutions of industrial robots and the results of multisolution optimization are simulated. The methods, theories, and strategies studied in this paper are slightly modified to provide theoretical and practical support for another dynamic simulation modeling of industrial robot kinematics with various geometries.
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Дисертації з теми "Kinematic and dynamic parameter"

1

Hu, Hongyao. "Atmospheres of comets: Gas dynamic models and inference of kinematic parameters." Diss., The University of Arizona, 1991. http://hdl.handle.net/10150/185429.

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Cometary nuclei may be our best available probes of the physical and chemical nature of the presolar nebula. However, in situ sampling of cometary nuclei to determine their composition is generally not feasible. Instead, remote spectroscopic observations of cometary comae are used to infer cometary composition. This approach relies on one's ability to model accurately the density distributions of gas and dust in the comae and a complex network of photochemical and molecular processes. Previously, a variety of theoretical models had been developed and, unfortunately, they are applicable only to a portion of the coma or to specific problems. In the first part of this thesis we introduce a preliminary version of a gas model built upon the concepts of dilute gas theory. This model is valid over the whole coma and it incorporates all previous models as its special cases, thus providing a new theoretical foundation for future cometary studies. In the second part of the thesis we discuss a spectral outflow model. This model is a special case of the dilute gas model and is tailored specifically to retrieve kinematic properties of cometary comae from velocity-resolved spectral line profiles. We review the formation of cometary spectral line profiles and we develop an analytic expression that maps three dimensional number density distributions into synthetic spectral line profiles. After discussing simplifications and Monte Carlo computational procedures, we apply the spectral outflow model to interpret infrared observations of H₂O in comets Halley and Wilson.
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2

Biasi, Nicolò. "Analysis of human motion with vision systems: kinematic and dynamic parameters estimation." Doctoral thesis, Università degli studi di Padova, 2014. http://hdl.handle.net/11577/3423555.

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This work presents a multicamera motion capture system able to digitize, measure and analyse the human motion. Key feature of this system is an easy wearable garment printed with a color coded pattern. The pattern of coloured markers allows simultaneous reconstruction of shape and motion of the subject. With the information gathered we can also estimate both kinematic and dynamic motion parameters. In the framework of this research we developed algorithms to: design the color coded pattern, perform 3D shape reconstruction, estimate kinematic and dynamic motion parameters and calibrate the multi-camera system. We paid particular attention to estimate the uncertainty of the kinematics parameters, also comparing the results obtained with commercial systems. The work presents also an overview of some real-world application in which the developed system has been used as measurement tool.
In questo lavoro viene presentato un sistema mutlicamera per la misura e digitalizzazione del moto umano. Caratteristica peculiare di questo sistema è l’indumento che deve essere indossato dal soggetto del quale si vuole ricostruire il moto. Su tale indumento è stampato un pattern di marker colorati che permette simultaneamente una digitalizzazione della forma e del moto del soggetto. Con queste informazioni è possibile ottenere una misura dei parametri cinematici e dinamici del moto umano. Nel corso della ricerca sono stati sviluppati algoritmi per: la realizzazione del pattern di marker colorati, la ricostruzione di forma, l’analisi dei parametri cinematici e dinamici del moto e la calibrazione del sistema stesso. Particolare attenzione è stata dedicata alla analisi dell’incertezza della misura dei parametri cinematici e la comparazione con sistemi commerciali. Vengono inoltre presentati alcuni progetti in cui il sistema realizzato è stati utilizzato come strumento di misura.
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3

Jasanský, Michal. "Návrh dynamických modelů pro řízení trakce experimentálního vozidla." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2010. http://www.nusl.cz/ntk/nusl-228949.

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The Master's thesis deals with the simulations kinematics and dynamics of experimental four-wheeled vehicle with all-wheel steering and all-wheel drive. Suggestion of vehicle stability systems ABS/ASR for traction control is included. There are several dynamics models with their comparison. The estimation of important vehicle parameters is implemented. Based on knowledge the simple vehicle stability system ABS/ASR is created.
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4

Simons, Raymond C., Susan A. Kassin, Jonathan R. Trump, Benjamin J. Weiner, Timothy M. Heckman, Guillermo Barro, David C. Koo, et al. "KINEMATIC DOWNSIZING AT z similar to 2." IOP PUBLISHING LTD, 2016. http://hdl.handle.net/10150/624072.

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We present results from a survey of the internal kinematics of 49 star-forming galaxies at z similar to 2 in the CANDELS fields with the Keck/MOSFIRE spectrograph, Survey in the near-Infrared of Galaxies with Multiple position Angles (SIGMA). Kinematics (rotation velocity V-rot and gas velocity dispersion sg) are measured from nebular emission lines which trace the hot ionized gas surrounding star-forming regions. We find that by z similar to 2, massive star-forming galaxies (log M-*/M-circle dot less than or similar to 10.2) have assembled primitive disks: their kinematics are dominated by rotation, they are consistent with a marginally stable disk model, and they form a Tully-Fisher relation. These massive galaxies have values of V-rot sg that are factors of 2-5 lower than local well-ordered galaxies at similar masses. Such results are consistent with findings by other studies. We find that low-mass galaxies (log M-*/M-circle dot less than or similar to 10.2) at this epoch are still in the early stages of disk assembly: their kinematics are often dominated by gas velocity dispersion and they fall from the Tully-Fisher relation to significantly low values of V-rot. This "kinematic downsizing" implies that the process(es) responsible for disrupting disks at z similar to 2 have a stronger effect and/or are more active in low-mass systems. In conclusion, we find that the period of rapid stellar mass growth at z similar to 2 is coincident with the nascent assembly of low-mass disks and the assembly and settling of high-mass disks.
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5

Stellman, Paul Steven. "Kinematic and dynamic modeling of Nanostructured Origami." Thesis, Massachusetts Institute of Technology, 2006. http://hdl.handle.net/1721.1/35639.

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Анотація:
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2006.
Includes bibliographical references (leaves 85-88).
Nanostructured Origami is a manufacturing process that folds nanopatterned thin films into a desired 3D shape. This process extends the properties of 3D design and connectivity found in origami artwork to the bulk fabrication of 3D nanostructures. Our technique is a two-step procedure that first patterns the devices in 2D and then folds the membranes to the final 3D shape along pre-defined creases. This thesis describes theoretical methods that have been developed to model the actuation of origami devices. The background of origami mathematics and advances in robotics are presented in the context of modeling Nanostructured Origami. Unfolding of single-vertex origami is discussed, and an algorithm is implemented to calculate the unfolding trajectories of several devices. Another contribution of this thesis is the presentation of a methodology for modeling the dynamics of two classes of origami: accordion origamis and single-vertex origamis. The forward dynamics and equilibrium analysis of a useful bridge structure and the corner cube origami are simulated. The response of a model of an experimental actuation technique is well-behaved, and it is shown that the final folded state of these devices is at a stable equilibrium.
by Paul Steven Stellman.
S.M.
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6

Zaritsky, Dennis. "Clues to the nature of ultradiffuse galaxies from estimated galaxy velocity dispersions." OXFORD UNIV PRESS, 2017. http://hdl.handle.net/10150/624738.

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We describe how to estimate the velocity dispersions of ultradiffuse galaxies (UDGs) using a previously defined galaxy scaling relationship. The method is accurate for the two UDGs with spectroscopically measured dispersions, as well as for ultracompact galaxies, ultrafaint galaxies, and stellar systems with little or no dark matter. This universality means that the relationship can be applied without further knowledge or prejudice regarding the structure of a galaxy. We then estimate the velocity dispersions of UDGs drawn from two published samples and examine the distribution of total masses. We find, in agreement with the previous studies of two individual UDGs, that these systems are dark matter dominated systems, and that they span a range of at least 10(10) < M-200/M-circle dot < 10(12). These galaxies are not, as an entire class, either all dwarfs or all failed L-* galaxies. Estimates of the velocity dispersions can also help identify interesting subsets of UDGs, such as those that are likely to have the largest mass-to-light ratios, for subsequent spectroscopic study.
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7

Lipfert, Susanne W. "Kinematic and dynamic similarities between walking and running." Hamburg Kovač, 2010. http://d-nb.info/100174232X/04.

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8

Rahgoshay, Cyril. "Editing and constraining kinematic approximations of dynamic motion." Thesis, McGill University, 2012. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=107891.

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This thesis presents inverse kinodynamics (IKD), an animator friendly kinematicworkflow that both encapsulates short-lived dynamics and allows precise space-timeconstraints. Kinodynamics (KD), defines the system state at any given time asthe result of a kinematic state in the recent past, physically simulated over a shorttemporal window to the present. KD is a well suited kinematic approximation to animatedcharacters and other dynamic systems with dominant kinematic motion andshort-lived dynamics. Given a dynamic system, we first formulate an appropriatekinodynamic window size based on kinematically defined accelerations in the kinematictrajectory and physical properties of the system. We then present an inversekinodynamics (IKD) algorithm, where a kinodynamic system can precisely attain aset of animator constraints at specified times. Our approach solves the IKD problemiteratively, and is able to handle full pose or end effector constraints at both positionand velocity level, as well as multiple constraints in close temporal proximity.Our approach can also be used to solve position and velocity constraints on passivesystems attached to kinematically driven bodies. We show IKD to be a compellingapproach to the direct kinematic control of character, with secondary dynamics viaexamples of skeletal dynamics and facial animation.
Cette thèse présente kinodynamique inversé (IKD) qui est un procédé kinematiquetrès pratique utilisable pour l'animateur qui consiste à la fois d'une dynamiquede courte durée et qui permet des contraintes spatio-temporelles précises. Kinodynamique (KD) définit l'état du système à un moment donné comme le résultat d'un état kinematique dans un passé récent, physiquement simulé dans une fenêtre temporelle de courte durée du temps présent. KD est une approximation kinematiquebien adaptée aux caractères animés et à d'autres systèmes dynamiques avec unmouvement kinematique dominant et une dynamique de courte durée. En ayant unsystème dynamique on peut d'abord formuler une taille de fenêtre kinodynamiqueappropriée, basée sur des accélérations définies kinematiquement dans la trajectoirekinematique et sur les propriétés physiques du système. Nous présentons ensuiteun algorithme kinodynamique inversé (IKD) dans lequel un système kinodynamiquepeut satisfaire un ensemble de contraintes des animateurs à des moments précis.Notre approche résout le problème IKD de manière itérative et permet de gérer unepose complète ou des contraintes des points fixés sur le corps à la fois au niveaude la position et de la vitesse ainsi que de multiples contraintes dans une courteproximité temporelle. Notre approche peut également être utilisée pour résoudredes contraintes de position et de vitesse dans des systèmes passifs attachés à descorps kinematiquement entrainés. Nous démontrons qu'IKD peut être une approcheconvaincante pour le contrôle kinematique direct des caractères avec des dynamiquessecondaires par des exemples de dynamiques du squelette et d'animation faciale.
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9

Howard, Colin Bryan. "Kinematic and dynamic modelling of foreland basin development." Thesis, University of Liverpool, 1993. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.333687.

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10

Lee, Changyeol. "Compressible Convection and Subduction: Kinematic and Dynamic Modeling." Diss., Virginia Tech, 2010. http://hdl.handle.net/10919/29260.

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Subduction is a dynamic and time-dependent process which requires time-dependent models for its study. In addition, due to the very high pressures within the Earthâ s interior, an evaluation of the role of compressibility in subduction studies should be undertaken. However, most subduction studies have been conducted by using kinematic, steady-state, and/or incompressible mantle convection models; these simplifications may miss important elements of the subduction process. In this dissertation, I evaluate the effects of time-dependence and compressibility on the evolution of subduction by using 2-D Cartesian numerical models. The effect of compressibility on the thermal and flow structures of subduction zones is evaluated by using kinematically prescribed slab and steady-state models. The effect of compressibility is primarily expressed as an additional heat source created by viscous dissipation. The heat results in thinner thermal boundary layer on the subducting slab and increases slab temperatures. With that exception, the effect of compressibility is relatively small compared with, for example, the effect of the mantle rheology on the thermal and flow structures of the mantle wedge. Plate reconstruction models show that the convergence rate and age of the incoming plate to trench vary with time, which poses a problem for steady-state subduction models. Thus, I consider the time-dependent convergence rate and age of the incoming plate in the kinematic-dynamic subduction models in order to understand the localization of high-Mg# andesites in the western Aleutians. The results show that the localization of high-Mg# andesites is a consequence of the time-dependent convergence rate and slab age along the Aleutian arc. The influence of mantle and slab parameters as well as compressibility on the slab dynamics is evaluated by using 2-D dynamic subduction models. The results demonstrate that periodic slab buckling in the mantle results in periodic convergence rate and dip of the subducting slab; time-dependence is a natural expression of subduction. The effect of compressibility on the slab dynamics is not significant. The periodic convergence rate and dip of the subducting slab explain time-dependent seafloor spreading at the mid-ocean ridge, convergence rate of the oceanic plate at trench and arc-normal migration of arc volcanoes.
Ph. D.
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Книги з теми "Kinematic and dynamic parameter"

1

LTPP computed parameter: Dynamic modulus. McLean, VA: U.S. Dept. of Transportation, Federal Highway Administration, Research, Development, and Technology, Turner-Fairbank Highway Research Center, 2011.

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2

García de Jalón, Javier, and Eduardo Bayo. Kinematic and Dynamic Simulation of Multibody Systems. New York, NY: Springer New York, 1994. http://dx.doi.org/10.1007/978-1-4612-2600-0.

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3

Stortelder, W. J. H. Parameter estimation in nonlinear dynamic systems. Amsterdam, Netherlands: Centrum voor Wiskunde en Informatica, 1998.

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4

Prat, Julien. Dynamic incentive contracts under parameter uncertainty. Cambridge, MA: National Bureau of Economic Research, 2010.

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5

Taylor, Gaynor E., ed. Kinematic and Dynamic Issues in Sensor Based Control. Berlin, Heidelberg: Springer Berlin Heidelberg, 1990. http://dx.doi.org/10.1007/978-3-642-84012-8.

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6

NATO, Advanced Research Workshop on Kinematic and Dynamic Issues in Sensor Based Control (1987 Il Ciocco Italy). Kinematic and dynamic issues in sensor based control. Berlin: Springer-Verlag, 1990.

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7

Taylor, Gaynor E. Kinematic and Dynamic Issues in Sensor Based Control. Berlin, Heidelberg: Springer Berlin Heidelberg, 1990.

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8

Mansour, M., S. Balemi, and W. Truöl, eds. Robustness of Dynamic Systems with Parameter Uncertainties. Basel: Birkhäuser Basel, 1992. http://dx.doi.org/10.1007/978-3-0348-7268-3.

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9

M, Mansour, Balemi S. 1962-, and Truöl W. 1963-, eds. Robustness of dynamic systems with parameter uncertainties. Basel: Boston, 1992.

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10

Raol, J. R. Modelling and parameter estimation of dynamic systems. London: Institution of Electrical Engineers, 2004.

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Частини книг з теми "Kinematic and dynamic parameter"

1

Ouyang, P. R., W. J. Zhang, and J. Huang. "Synthesizing of Parallel Robots Using Adjusting Kinematic Parameters Method." In Dynamic Balancing of Mechanisms and Synthesizing of Parallel Robots, 143–72. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-17683-3_7.

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2

Danaei, Behzad, Alaleh Arian, Mehdi Tale Masouleh, and Ahmad Kalhor. "Kinematic and Dynamic Modeling and Base Inertial Parameters Determination of the Quadrupteron Parallel Manipulator." In Computational Kinematics, 249–56. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-60867-9_28.

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Hosseini, Seyedsajjad, João Guerreiro, João Gomes Ferreira, Luís Guerreiro, and Rita Moura. "Wireless Sensors for Measuring Main Kinematic Parameters in Dynamic Tests Involving Intense Impacts." In Testing and Experimentation in Civil Engineering, 485–97. Cham: Springer Nature Switzerland, 2023. http://dx.doi.org/10.1007/978-3-031-29191-3_40.

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Geradin, M., G. Robert, and P. Buchet. "Kinematic and Dynamic Analysis of Mechanisms. A Finite Element Approach Based on Euler Parameters." In Finite Element Methods for Nonlinear Problems, 41–60. Berlin, Heidelberg: Springer Berlin Heidelberg, 1986. http://dx.doi.org/10.1007/978-3-642-82704-4_3.

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5

Trofimov, Vladimir L., Fanil F. Khaziev, and Alisa V. Trofimova. "Research Direction: Brief Outline of Environmental Geological Indicators Using Reflected Wave Dynamic and Kinematic Parameters." In Oil and Gas Reservoir Prospecting and Exploration, 1–14. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-030-84389-2_1.

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6

Babaghasabha, Reza, Mohammad A. Khosravi, and Hamid D. Taghirad. "Adaptive Control of KNTU Planar Cable-Driven Parallel Robot with Uncertainties in Dynamic and Kinematic Parameters." In Mechanisms and Machine Science, 145–59. Cham: Springer International Publishing, 2014. http://dx.doi.org/10.1007/978-3-319-09489-2_11.

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Pollack, Edward. "Parameter Sniffing." In Dynamic SQL, 177–207. Berkeley, CA: Apress, 2016. http://dx.doi.org/10.1007/978-1-4842-1811-2_8.

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8

Pollack, Edward. "Parameter Sniffing." In Dynamic SQL, 279–326. Berkeley, CA: Apress, 2018. http://dx.doi.org/10.1007/978-1-4842-4318-3_8.

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9

Schindler, Melvin, Paramjit K. Gharyal, and Lian-Wei Jiang. "The Dynamic Parameter." In Biophysical and Biochemical Aspects of Fluorescence Spectroscopy, 261–81. Boston, MA: Springer US, 1991. http://dx.doi.org/10.1007/978-1-4757-9513-4_9.

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10

Dobretsov, Roman Yu, Andrei V. Lozin, Andrei O. Kaninskii, and Vladimir E. Rolle. "Steering Mechanisms with Alterable Kinematic Parameter." In Proceedings of I4SDG Workshop 2021, 512–21. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-87383-7_55.

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Тези доповідей конференцій з теми "Kinematic and dynamic parameter"

1

Quraishi, Anwar, and Alcherio Martinoli. "Online Kinematic and Dynamic Parameter Estimation for Autonomous Surface and Underwater Vehicles." In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2021. http://dx.doi.org/10.1109/iros51168.2021.9636659.

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2

Deshpande, Sagar, Philip Smith, and Qing Hui. "Parameter Estimation and Threat Localization Using Multiple Robots With Kinematic Constraints." In ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference. ASME, 2012. http://dx.doi.org/10.1115/dscc2012-movic2012-8554.

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3

Varma, D. S. Mohan, and S. Sujatha. "Minimal Kinematic Model for Inverse Dynamic Analysis of Gait." In ASME 2014 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/imece2014-39942.

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Анотація:
The objective of this work is to develop an inverse dynamics model that uses minimal kinematic inputs to estimate the ground reaction force (GRF). The human body is modeled with 14 rigid segments and a circular ankle-foot-roll-over shape (AFROS) for the foot-ground interaction. The input kinematic data and body segment parameter estimates are obtained from literature. Optimization is used to ensure that the kinematic data satisfy the constraint that the swing leg clears the ground in the single support (SS) phase. For the SS phase, using the segment angles as the generalized degrees of freedom (DOF), the kinematic component of the GRF is expressed analytically as the summation of weighted kinematics of individual segments. The weighting functions are constants that are functions of the segment masses and center of mass distances. Using this form of the equation for GRF, it is seen that the kinematics of the upper body segments do not contribute to the vertical component GRFy in SS phase enabling the reduction of a 16-DOF 14-segment model to a 10-DOF 7-segment model. It is seen that the model can be further reduced to a 3-DOF model for GRFy estimation in the SS phase of gait. The horizontal component GRFx is computed assuming that the net GRF vector passes through the center of mass (CoM). The GRF in double support phase is assumed to change linearly from one foot to the other. The sagittal plane internal joint forces and moments acting at the ankle, knee and hip are computed using the 3-DOF model and the 10-DOF model and compared with the results from literature. An AFROS and measurements of the stance shank and thigh rotations in the sagittal plane, and of the lower trunk (or pelvis) in the frontal plane provide sufficient kinematics in an inverse dynamics model to estimate the GRF and joint reaction forces and moments. Such a model has the potential to simplify gait analysis.
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4

Jeon, Soo. "State Estimation for Kinematic Model Over Lossy Network." In ASME 2010 Dynamic Systems and Control Conference. ASMEDC, 2010. http://dx.doi.org/10.1115/dscc2010-4297.

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The major benefit of the kinematic Kalman filter (KKF), i.e., the state estimation based on kinematic model is that it is immune to parameter variations and unknown disturbances regardless of the operating conditions. In carrying out complex motion tasks such as the coordinated manipulation among multiple machines, some of the motion variables measured by sensors may only be available through the communication layer, which requires to formulate the optimal state estimator subject to lossy network. In contrast to standard dynamic systems, the kinematic model used in the KKF relies on sensory data not only for the output but also for the process input. This paper studies how the packet dropout occurring from the input sensor as well as the output sensor affects the performance of the KKF. When the output sensory data are delivered through the lossy network, it has been shown that the mean error covariance of the KKF is bounded for any non-zero packet arrival rate. On the other hand, if the input sensory data are subject to lossy network, the Bernoulli dropout model results in an unbounded mean error covariance. More practical strategy is to adopt the previous input estimate in case the current packet is dropped. For each case of packet dropout models, the stochastic characteristics of the mean error covariance are analyzed and compared. Simulation results are presented to illustrate the analytical results and to compare the performance of the time varying (optimal) filter gain with that of the static (sub-optimal) filter gain.
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5

Li, Qin. "Dynamic Parameters Optimization and Kinematic Analysis of Mechanical Treadmill." In First International Conference on Information Sciences, Machinery, Materials and Energy. Paris, France: Atlantis Press, 2015. http://dx.doi.org/10.2991/icismme-15.2015.424.

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6

Ficanha, Evandro, Houman Dallali, and Mo Rastgaar. "Gait Emulator for Evaluation of a Powered Ankle-Foot Prosthesis." In ASME 2017 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/dscc2017-5089.

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In this paper we present an enhanced gait emulator and a novel hybrid control system to test powered ankle-foot prostheses with two degrees of freedom in the sagittal and frontal planes. The gait emulator is a nonlinear and non-smooth system that has to follow a precisely timed set of phases to achieve a human-like periodic gait. Despite the complexity and parameter uncertainties of this five degrees of freedom system, our proposed hybrid control system simplifies the walking control by use of state triggered kinematic events. The control system works in closed loop with kinematic event detection to ensure robust and repeatable walking tests as design parameters are varied. The developed gait emulator can be used to test the prosthesis under various loading conditions and walking speeds.
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7

Sovizi, Javad, Aliakbar Alamdari, and Venkat N. Krovi. "A Random Matrix Approach to Manipulator Jacobian." In ASME 2013 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/dscc2013-3950.

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Traditional kinematic analysis of manipulators, built upon a deterministic articulated kinematic modeling often proves inadequate to capture uncertainties affecting the performance of the real robotic systems. While a probabilistic framework is necessary to characterize the system response variability, the random variable/vector based approaches are unable to effectively and efficiently characterize the system response uncertainties. Hence in this paper, we propose a random matrix formulation for the Jacobian matrix of a robotic system. It facilitates characterization of the uncertainty model using limited system information in addition to taking into account the structural inter-dependencies and kinematic complexity of the manipulator. The random Jacobian matrix is modeled such that it adopts a symmetric positive definite random perturbation matrix. The maximum entropy principle permits characterization of this perturbation matrix in the form of a Wishart distribution with specific parameters. Comparing to the random variable/vector based schemes, the benefits now include: incorporating the kinematic configuration and complexity in the probabilistic formulation, achieving the uncertainty model using limited system information (mean and dispersion parameter), and realizing a faster simulation process. A case study of a 6R serial manipulator (PUMA 560) is presented to highlight the critical aspects of the process. A Monte Carlo analysis is performed to capture the deviations of distal path from the desired trajectory and the statistical analysis on the realizations of the end effector position and orientation shows how the uncertainty propagates throughout the system.
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8

Wang, Jiamin, Oumar Barry, Andrew J. Kurdila, and Sujith Vijayan. "On the Dynamics and Control of a Full Wrist Exoskeleton for Tremor Alleviation." In ASME 2019 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/dscc2019-9118.

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Abstract This paper introduces a novel wearable full wrist exoskeleton designed for the alleviation of tremor in patients suffering from Parkinson’s Disease and Essential Tremor. The design introduces a structure to provide full observation of wrist kinematics as well as actuation in wrist flexion/extension and radial/ulnar deviation. To examine the feasibility of the design, the coupled dynamics of the device and the forearm is modeled via a general multibody framework. The dynamic analysis considers human motion, wrist stiffness, and tremor dynamics. The analysis of the model reveals that the identification of the wrist kinematics is indispensable for the controller design. Nonlinear regression based on the Levenberg-Marquardt algorithm has been applied to estimate the unknown parameters in a kinematic structural function designed to approximate the wrist kinematics, which leads to the construction of the control system framework. Finally, several simulation cases are demonstrated to conclude the study.
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9

Yu-Tong, Li, and Wang Yu-Xin. "Dynamic Stability of Parallel Manipulator at its Singularities Corresponding to Kinematic Parameters of Dynamic Systems." In ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/detc2018-85076.

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With the aid of the Liyapunov first approximate stability criterion, the dynamic stability condition for the 3-RPR parallel mechanism to realize a deterministic motion at singular configurations is deduced. Based on this condition, the distributions of the kinematic parameters including input velocities and accelerations of the system corresponding to the stable motion at its singular configuration are investigated then. It is found that for a given singular configuration, increasing input velocities and accelerations, the sub-distributions of eigenvalues with positive real parts have a tendency to shrink and, consequently, the motion stability at the singular configuration can be enhanced; adjusting input velocities and accelerations only can not necessarily get all negative real parts of the eigenvalues sharing a common intersection of the distributing subintervals and, normally, the additional adjustment of initial velocities of the particle system should be added. Besides, while the movable platform goes through the singular configuration, if the control law of the input parameters makes the instantaneous velocity center of the movable platform far away from the singular point, the platform is able to go through the singular configuration with high stability and strong capability to resist external disturbances. This research indicates the effectiveness to improve the motion stability of the dynamics system at singular configurations via adjusting the input kinematic parameters. From this, a singularity-free approach via adjusting the input kinematic parameters can be utilized to exclude singularities of parallel mechanisms dynamically in the joint trajectory planning stage without introducing either redundancy or active mass.
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10

Govindarajan, Madhu Soodhanan, Junmin Wang, Bill Post, and Andrew Fox. "Design and Analysis of a Localization Method Using a Laser Sensor for Indoor Wheeled Mobile Robots." In ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control. ASMEDC, 2011. http://dx.doi.org/10.1115/dscc2011-5918.

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A new approach to localize an indoor wheeled mobile robot (WMR) using a low-cost laser sensor is proposed. An onboard laser sensor moving inside a guide way is used to recognize the unique pattern of a target, by virtue of which the vehicle is localized globally. A kinematic model is developed, which determines the vehicle orientation and location with respect to the center of the target object. Here, the design parameters of the target and guide way lengths are analyzed in terms of their influence on the localization accuracy in the presence of noise in measurements. The kinematic model and the design parameter analysis are validated by the simulation results.
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Звіти організацій з теми "Kinematic and dynamic parameter"

1

Prat, Julien, and Boyan Jovanovic. Dynamic Incentive Contracts Under Parameter Uncertainty. Cambridge, MA: National Bureau of Economic Research, December 2010. http://dx.doi.org/10.3386/w16649.

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2

Lewis, Jonathan C., and Christopher J. Pluhar. Kinematic and Dynamic Studies of the Coso Geothermal and Surrounding Areas. Fort Belvoir, VA: Defense Technical Information Center, September 2003. http://dx.doi.org/10.21236/ada417358.

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3

Johnson, V. J., and G. P. Starr. Kinematic and dynamic analyses of the Stanford/JPL robot hand. [MACSYMA]. Office of Scientific and Technical Information (OSTI), November 1987. http://dx.doi.org/10.2172/5658755.

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4

Helinski, Arthur L. Dynamic and Kinematic Study of a Stewart Platform Using Newton-Euler Techniques. Fort Belvoir, VA: Defense Technical Information Center, January 1990. http://dx.doi.org/10.21236/ada219637.

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5

Corona, Edmundo, Amanda Jones, and Jennifer A. Rees. FY18 Thermal Mechanical Failure: SS-304L calibration Taylor-Quinney parameter measurement and kinematic hardening plasticity. Office of Scientific and Technical Information (OSTI), December 2018. http://dx.doi.org/10.2172/1489541.

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6

Meliopoulos, Sakis, George Cokkinides, Bruce Fardanesh, and Clinton Hedrington. Distributed Dynamic State Estimator, Generator Parameter Estimation and Stability Monitoring Demonstration. Office of Scientific and Technical Information (OSTI), December 2013. http://dx.doi.org/10.2172/1176943.

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7

Kevrekidis, Ioannis G. Enabling-Dynamic Simulators: Stability, Bifurcation and Control Computations for Distributed Parameter Systems. Fort Belvoir, VA: Defense Technical Information Center, July 2002. http://dx.doi.org/10.21236/ada405411.

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8

Singh, D., M. Salter, J. Skinner, and N. M. Ridler. Commissioning of a VNA dynamic uncertainty tool for microwave S-parameter measurements. National Physical Laboratory, February 2021. http://dx.doi.org/10.47120/npl.tqe16.

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9

Hebert, Anthony J., and Paul R. Mackin. Advanced Modeling and System Parameter Identification through Minimal Dynamic Stimulation and Digital Signal Processing. Fort Belvoir, VA: Defense Technical Information Center, August 2014. http://dx.doi.org/10.21236/ada609130.

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Wambsganss, M. W. Dynamic analysis of the 7-GeV APS experiment hall foundation based on equivalent lumped parameter modeling. Office of Scientific and Technical Information (OSTI), January 1989. http://dx.doi.org/10.2172/10140276.

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