Experimental investigation of feedforward control schemes of a flexible robot manipulator system

This paper presents experimental investigations into the applications of feedforward control schemes for vibration control of a flexible manipulator system. Feedforward control schemes based on input shaping and filtering techniques are to be examined. A constrained planar single-link flexible manipulator is considered in this experimental work. An unshaped bang-bang torque input is used to determine the characteristic parameters of the system for design and evaluation of the input shaping control techniques. The input shapers and filtering techniques are designed based on the properties of the system. Simulation results of the response of the manipulator to the shaped and filtered inputs are presented in time and frequency domains. Performances of the shapers are examined in terms of level of vibration reduction and time response specifications. The effects of derivative order of the input shaper on the performance of the system are investigated. Finally, a comparative assessment of the control strategies is presented and discusse

Modeling of viscous flows in two-dimensional turbomachinery cascade via viscous-inviscid interaction method

[Abstract]: A two-dimensional time-accurate time-marching viscous flow solver employing the viscous-inviscid interaction method suitable for turbomachinery applications is described. The inviscid main flow solver uses the second-order accurate cellvertex finite-volume spatial discretisation and fourth-order accurate Runge-Kutta temporal integration. The viscous effect due to boundary layer development on the blade surfaces and wakes are modelled using an independent one-dimensional boundary layer subroutine capable of modelling laminar, transition and fully turbulent flows. The solver has been applied to subsonic, transonic and supersonic flow in a cascade of nozzle blades. The results are compared with the experimental data and they showed very good agreemen

Robust vehicle suspension system by converting active and passive control of a vehicle to semi-active control ystem analytically

This research article deals with a simplified translational model of an automotive suspension system which is constructed by considering the translation motion of one wheel of a car. Passive Vehicle Suspension System is converted into Semi Active Vehicle System. Major advantage achieved by this system is that it adjusts the damping of the suspension system without the application of any actuator by using MATLAB® simulations. The semi-active control is found to control the vibration of suspension system very well

A novel Multi-permittivity Cylindrical Dielectric Resonator Antenna for Wideband Applications

In this paper, a novel multi-permittivity cylindrical dielectric resonator antenna for wideband application is presented. The multi-permittivity cylinder is formed by combining two different permittivity material sectors in such a way that each sector (with constant permittivity) is 90 degree apart. A direct microstrip line coupling terminated with T-stub at the open end is used to excite the multi-permittivity cylindrical dielectric resonator. The angular position of the multi sector dielectric resonator with respect to the longitudinal axis of the microstrip line and length of the additional strip at the open end of the feeding circuit is key parameters for wideband operation of the antenna. By optimizing all parameters of the proposed antenna, wideband impedance bandwidth of 56% (12.1 GHz - 21.65 GHz) is achieved. The average gain of the antenna throughout the bandwidth is 5.9 dB with good radiation properties in both E-plane and H-plane. A well matched simulation and experimental results show that the antenna is suitable for wideband applications

Effect of equivalent salt deposit density on flashover voltage of contaminated insulator energized by HVDC

In Malaysia, the demand for electric power is increasing day by day due to more consumption of power in the industrial sector. Recently, the high voltage DC transmission lines are under construction near the coastal environments for transmitting the power to the all states of Malaysia. Therefore, there is a concern about the reliability of these systems especially under adverse environmental conditions due to sea salt spray contamination. This reliability of this contaminated insulator can be improved through its performance studies. For this performance study, an analytical expression between flashover voltage and ESDD of the contaminated insulator has been proposed using Dimensional Analysis technique. The results obtained from the analytical expression are compared with the experimental results and in close agreement are foun