広帯域と摩擦フリー力覚情報に基づく高性能ロボットモーションコントロール

国立大学法人長岡技術科学大

Sensing and Quantifying a New Mechanism for Vehicle Brake Creep Groan

This paper investigates the creep groan of a vehicle’s brake experimentally, analytically, and numerically. Experimentally, the effects of acceleration on caliper and strut, noise, brake pressure, and tension are measured. The results show that the measured signals and their relevant spectra broadly capture the complex vibrations of creep groan. This includes the simple stick-slip, severe stick-slip vibrations/resonances, multiple harmonics, half-order harmonics; stick-slip-induced impulsive vibrations, steady/unstable vibrations, and their transitions. Analytically, a new mathematical model is presented to capture the unique features of half-order harmonics and the connections to fundamental stick-slip/resonant frequency and multiple harmonics. The analytical solution and the experimental results show that the vibro-impact of the brake pad-disc system can be triggered by severe stick-slip vibrations and is associated with instable, impulsive stick-slip vibration with wideband. The induced stick-slip vibro-impact can evolve into a steady and strong state with half-order, stick-slip fundamental, and multiple-order components. This new mechanism is different from all previously proposed mechanisms of creep groan in that we also view some type of creep groan as a stick-slip vibration-induced vibro-impact phenomenon in addition to conventional stick-slip phenomena. The new mechanism comprehensively explains the complex experimental phenomena reported in the literature. Numerically, the salient features of phase diagrams of instable stick-slip and vibro-impact are examined by using a seven-degree-of-freedom brake system model, which shows that the phase diagrams of the dynamics of creep groan with and without vibro-impact are substantially different. The phase diagram of the dynamics with vibro-impact is closer to the experimental results. In contrast to existing mechanisms, the proposed new mechanism encompasses the instable stick-slip nature of creep groan and elaborates the inherent connections and transition of the spectrogram. The new knowledge can be used to attain critical improvements to brake noise and vibration analysis and design. By applying the proposed new model in addition to existing models, all experimental phenomena in creep groan are elaborated and quantified

Sensorless torque/force control

Motion control systems represent a main subsystem for majority of processing systems that can be found in the industrial sector. These systems are concerned with the actuation of all devices in the manufacturing process such as machines, robots, conveyor systems and pick and place mechanisms such that they satisfy certain motion requirements, e.g., the pre specified reference trajectories are followed along with delivering the proper force or torque to the point of interest at which the process occurs. In general, the aim of force/torque control is to impose the desired force on the environment even if the environment has dynamical motion

Digital Filters for Maintenance Management

Faults in mechanisms must be detected quickly and reliably in order to avoid important losses. Detection systems should be developed to minimize maintenance costs and are generally based on consistent models, but as simple as possible. Also, the models for detecting faults must adapt to external and internal conditions to the mechanism. The present chapter deals with three particular maintenance algorithms for turnouts in railway infrastructure by means of discrete filters that comply with these general objectives. All of them have the virtue of being developed within a well-known and common framework, namely the State Space with the help of the Kalman Filter (KF) and/or complementary Fixed Interval Smoother (FIS) algorithms. The algorithms are tested on real applications and thorough results are shown

Biomedical and Human Factors Requirements for a Manned Earth Orbiting Station

This report is the result of a study conducted by Republic Aviation Corporation in conjunction with Spacelabs, Inc.,in a team effort in which Republic Aviation Corporation was prime contractor. In order to determine the realistic engineering design requirements associated with the medical and human factors problems of a manned space station, an interdisciplinary team of personnel from the Research and Space Divisions was organized. This team included engineers, physicians, physiologists, psychologists, and physicists. Recognizing that the value of the study is dependent upon medical judgments as well as more quantifiable factors (such as design parameters) a group of highly qualified medical consultants participated in working sessions to determine which medical measurements are required to meet the objectives of the study. In addition, various Life Sciences personnel from NASA (Headquarters, Langley, MSC) participated in monthly review sessions. The organization, team members, consultants, and some of the part-time contributors are shown in Figure 1. This final report embodies contributions from all of these participants

Research concerning the geophysical causes and measurement accuracies related to the irregularities in the rotation of the earth

The primary objective of this effort consisted of a detailed study of the history of the motion of the moon. Several analyses were developed which are related to the determination of the effect of various refractive phenomena on the accuracy of measurements made through the earth's atmosphere

Technical and investigative support for high density digital satellite recording systems

Methods and results of examinations and tests conducted on magnetic recording tapes under consideration for a high density digital (HDDR) satellite recording system are described. The examinations and tests investigate the performance of tapes with respect to their physical, magnetic and electrical characteristics. The objective of the tests, the likely significance of typical results, and the importance of the characteristics under investigation to the application are included. Theoretical discussions of measurement methods are provided where appropriate. Methods and results are discussed; the results of some sections are tabulated together to facilitate their comparison. The conclusion of each test section relates the test results to their possible significance and attempts to correlate the results of that section with the results of other tests. Some of the sections analyze sources of error inherent in the measurement methods or relate the value of the information obtained to the objectives of the test or the overall purpose of the project

Autonomous frequency domain identification: Theory and experiment

The analysis, design, and on-orbit tuning of robust controllers require more information about the plant than simply a nominal estimate of the plant transfer function. Information is also required concerning the uncertainty in the nominal estimate, or more generally, the identification of a model set within which the true plant is known to lie. The identification methodology that was developed and experimentally demonstrated makes use of a simple but useful characterization of the model uncertainty based on the output error. This is a characterization of the additive uncertainty in the plant model, which has found considerable use in many robust control analysis and synthesis techniques. The identification process is initiated by a stochastic input u which is applied to the plant p giving rise to the output. Spectral estimation (h = P sub uy/P sub uu) is used as an estimate of p and the model order is estimated using the produce moment matrix (PMM) method. A parametric model unit direction vector p is then determined by curve fitting the spectral estimate to a rational transfer function. The additive uncertainty delta sub m = p - unit direction vector p is then estimated by the cross spectral estimate delta = P sub ue/P sub uu where e = y - unit direction vectory y is the output error, and unit direction vector y = unit direction vector pu is the computed output of the parametric model subjected to the actual input u. The experimental results demonstrate the curve fitting algorithm produces the reduced-order plant model which minimizes the additive uncertainty. The nominal transfer function estimate unit direction vector p and the estimate delta of the additive uncertainty delta sub m are subsequently available to be used for optimization of robust controller performance and stability