23 research outputs found
Dual Mode Control of an Inverted Pendulum: Design, Analysis and Experimental Evaluation
We present an inverted pendulum design using readily available V-slot rail components and
3D printing to construct custom parts. To enable the examination of different pendulum
characteristics, we constructed three pendulum poles of different lengths. We implemented
a brake mechanism to modify sliding friction resistance and built a paddle that can be
attached to the ends of the pendulum poles. A testing rig was also developed to consistently
apply disturbances by tapping the pendulum pole, characterizing balancing performance.
We perform a comprehensive analysis of the behavior and control of the pendulum. This
begins by considering its dynamics, including the nonlinear differential equation that
describes the system, its linearization, and its representation in the s-domain. The primary
focus of this work is the development of two distinct control modes for the pendulum: a
velocity control mode, designed to balance the pendulum while the cart is in motion, and a
position control mode, aimed at maintaining the pendulum cart at a specific location. For
this, we derived two different state space models: one for implementing the velocity control
mode and another for the position control mode. In the position control mode, integral action
applied to the cart position ensures that the inverted pendulum remains balanced and
maintains its desired position on the rail. For both models, linear observer-based state
feedback controllers were implemented. The control laws are designed as linear quadratic
regulators (LQR), and the systems are simulated in MATLAB. To actuate the physical
pendulum system, a stepper motor was used, and its controller was assembled in a DIN rail
panel to simplify the integration of all necessary components. We examined how the
optimized performance, achieved with the medium-length pendulum pole, translates to poles
of other lengths. Our findings reveal distinct behavioral differences between the control
modes
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On the discretisation of actuation in locomotion: Impulse- and shape-based modelling for hopping robots
In an age where computers challenge the smartest human beings in cognitive tasks, the
conspicuous discrepancy between robot and animal locomotion appears paradoxical. While
animals can move around autonomously in complex environments, todayâs robots struggle
to independently operate in such surroundings. There are many reasons for robotsâ inferior
performance, but arguably the most important one is our missing understanding of complexity.
This thesis introduces the notion of discrete actuation for the study of locomotion in
robots and animals. The actuation of a system with discrete actuation is restricted to be
applied at a finite number of instants in time and is impulsive. We find that, despite their
simplicity, such systems can predict various experimental observations and inspire novel
technologies for robot design and control. We further find that, through the study of discrete
actuation, causal relationships between actuation and resulting behaviour are revealed and
become quantifiable, which relates the findings presented in this thesis to the broader concepts
of complexity, self-organisation, and self-stability.
We present four case studies in Chapters 3-6 which demonstrate how the concept of
discrete actuation can be employed to understand the physics of locomotion and to facilitate
novel robot technologies. We first introduce the impulsive eccentric wheel model which is
a discretely actuated system for the study of hopping locomotion. We find that the model
predicts robot hopping trajectories and animal related hopping characteristics by reducing the
dynamics of hoppingâusually described by hybrid differential equationsâto analytic maps.
The reduction of complexity of the model equations reveals the underlying physics of the
locomotion process, and we identify the importance of robot shape and mass distribution
for the locomotion performance. As a concrete application of the model, we compare the
energetics of hopping and rolling locomotion in environments with obstacles and find when
it is better to hop than to roll, based on the fundamental physical principles we discover in
the model analysis. The theoretical insights of this modelling approach enable new actuation
techniques and design for robots which we display in Robbit; a robot that uses strictly convex
foot shapes and rotational impulses to induce hopping locomotion. We show that such
systems outperform hopping with non-strictly convex shapes in terms of energy effective and robust locomotion. A system with discrete actuation motivates the exploitation of shape
and the environment to improve locomotion dynamics, which reveals advantageous effect
of inelastic impacts between the robot foot and the environment. We support this idea with
experimental results from the robot CaneBot which can change its foot shape to induce timed
impacts with the environment. Even though inelastic impacts are commonly considered
detrimental for locomotion dynamics, we show that their appropriate control improves the
locomotion speed considerably.
The findings presented in this thesis show that discrete actuation for locomotion inspires
novel ways to appreciate locomotion dynamics and facilitates unique control and design
technologies for robots. Furthermore, discrete actuation emphasises the definition of causality
in complex systems which we believe will bring robots closer to the locomotion behaviour of
animals, enabling more agile and energy effective robots
Terza giornata di studio Ettore Funaioli: 16 luglio 2009
In questo volume sono raccolte le memorie presentate in occasione della âTerza giornata di studio Ettore Funaioliâ, che si è tenuta il 16 luglio 2009 presso la FacoltĂ di Ingegneria dellâAlma Mater Studiorum â UniversitĂ di Bologna.
La giornata è stata organizzata dagli ex allievi del prof. Funaioli con la collaborazione del DIEM, Dipartimento di Ingegneria delle Costruzioni Meccaniche, Nucleari, Aeronautiche e di Metallurgia dellâAlma Mater Studiorum â UniversitĂ di Bologna, con il patrocinio del GMA â Gruppo di Meccanica Applicata
Terza giornata di studio Ettore Funaioli: 16 luglio 2009
In questo volume sono raccolte le memorie presentate in occasione della âTerza giornata di studio Ettore Funaioliâ, che si è tenuta il 16 luglio 2009 presso la FacoltĂ di Ingegneria dellâAlma Mater Studiorum â UniversitĂ di Bologna.
La giornata è stata organizzata dagli ex allievi del prof. Funaioli con la collaborazione del DIEM, Dipartimento di Ingegneria delle Costruzioni Meccaniche, Nucleari, Aeronautiche e di Metallurgia dellâAlma Mater Studiorum â UniversitĂ di Bologna, con il patrocinio del GMA â Gruppo di Meccanica Applicata
Dynamical systems : mathematical and numerical approaches
Proceedings of the 13th Conference âDynamical Systems - Theory and Applications"
summarize 164 and the Springer Proceedings summarize 60 best papers of university
teachers and students, researchers and engineers from whole the world. The papers were
chosen by the International Scientific Committee from 315 papers submitted to the
conference. The reader thus obtains an overview of the recent developments of dynamical
systems and can study the most progressive tendencies in this field of science
Proceedings of the 2018 Canadian Society for Mechanical Engineering (CSME) International Congress
Published proceedings of the 2018 Canadian Society for Mechanical Engineering (CSME) International Congress, hosted by York University, 27-30 May 2018
Proceedings of the 8th Annual Summer Conference: NASA/USRA Advanced Design Program
Papers presented at the 8th Annual Summer Conference are categorized as Space Projects and Aeronautics projects. Topics covered include: Systematic Propulsion Optimization Tools (SPOT), Assured Crew Return Vehicle Post Landing Configuration Design and Test, Autonomous Support for Microorganism Research in Space, Bioregenerative System Components for Microgravity, The Extended Mission Rover (EMR), Planetary Surface Exploration MESUR/Autonomous Lunar Rover, Automation of Closed Environments in Space for Human Comfort and Safety, Walking Robot Design, Extraterrestrial Surface Propulsion Systems, The Design of Four Hypersonic Reconnaissance Aircraft, Design of a Refueling Tanker Delivering Liquid Hydrogen, The Design of a Long-Range Megatransport Aircraft, and Solar Powered Multipurpose Remotely Powered Aircraft
Geotechnical Engineering for the Preservation of Monuments and Historic Sites III
The conservation of monuments and historic sites is one of the most challenging problems facing modern civilization. It involves, in inextricable patterns, factors belonging to different fields (cultural, humanistic, social, technical, economical, administrative) and the requirements of safety and use appear to be (or often are) in conflict with the respect of the integrity of the monuments. The complexity of the topic is such that a shared framework of reference is still lacking among art historians, architects, structural and geotechnical engineers. The complexity of the subject is such that a shared frame of reference is still lacking among art historians, architects, architectural and geotechnical engineers. And while there are exemplary cases of an integral approach to each building element with its static and architectural function, as a material witness to the culture and construction techniques of the original historical period, there are still examples of uncritical reliance on modern technology leading to the substitution from earlier structures to new ones, preserving only the iconic look of the original monument. Geotechnical Engineering for the Preservation of Monuments and Historic Sites III collects the contributions to the eponymous 3rd International ISSMGE TC301 Symposium (Naples, Italy, 22-24 June 2022). The papers cover a wide range of topics, which include: ă - Principles of conservation, maintenance strategies, case histories - The knowledge: investigations and monitoring - Seismic risk, site effects, soil structure interaction - Effects of urban development and tunnelling on built heritage - Preservation of diffuse heritage: soil instability, subsidence, environmental damages The present volume aims at geotechnical engineers and academics involved in the preservation of monuments and historic sites worldwide