Simulation and control problems in elastic robots

Computational issues associated with modeling and control of robots with revolute joints and elastic arms are considered. A manipulator with one arm and pinned at one end is considered to investigate various aspects of the modeling procedure and the model, and the effect of coupling between the rigid-body and the elastic motions. The rigid-body motion of a manipulator arm is described by means of a reference frame attached to the shadow beam, and the linear elastic operator denoting flexibility is defined with respect to this reference frame. The small elastic motion assumption coupled with the method of assumed modes is used to model the elasticity in the arm. It is shown that only terms up to quadratic in these model amplitudes need to be retained. An important aspect of the coupling between the rigid-body and the elastic motion is the centrifugal stiffening effect. This effect stiffens the elastic structure, as to be expected on physical grounds, gives rise to a time-varying inertia term for the rigid-body motion, and, in general, results in an effective inertia term smaller than the rigid-body inertia term. Simulation results are presented for an elastic beam pinned at one end and free at the other, and rotating in a horizontal plane, and control issues such as the order of the model, number of sensors, and modal extraction are examined within this context

Elastic moduli approximation of higher symmetry for the acoustical properties of an anisotropic material

The issue of how to define and determine an optimal acoustical fit to a set of anisotropic elastic constants is addressed. The optimal moduli are defined as those which minimize the mean squared difference in the acoustical tensors between the given moduli and all possible moduli of a chosen higher material symmetry. The solution is shown to be identical to minimizing a Euclidean distance function, or equivalently, projecting the tensor of elastic stiffness onto the appropriate symmetry. This has implications for how to best select anisotropic constants to acoustically model complex materials.Comment: 20 page

Actuator Constrained Trajectory Generation and Control for Variable-Pitch Quadrotors

Control and trajectory generation algorithms for a quadrotor helicopter with variable-pitch propellers are presented. The control law is not based on near-hover assumptions, allowing for large attitude deviations from hover. The trajectory generation algorithm ts a time-parametrized polynomial through any number of way points in R3, with a closed-form solution if the corresponding way point arrival times are known a priori. When time is not specifi ed, an algorithm for fi nding minimum-time paths subject to hardware actuator saturation limitations is presented. Attitude-specifi c constraints are easily embedded in the polynomial path formulation, allowing for aerobatic maneuvers to be performed using a single controller and trajectory generation algorithm. Experimental results on a variable pitch quadrotor demonstrate the control design and example trajectories.National Science Foundation (U.S.) (Graduate Research Fellowship under Grant No. 0645960

Dynamics of an Inelastic Gravitational Billiard with Rotation

The seminal physical model for investigating formulations of nonlinear dynamics is the billiard. Gravitational billiards provide an experimentally accessible arena for their investigation. We present a mathematical model that captures the essential dynamics required for describing the motion of a realistic billiard for arbitrary boundaries, where we include rotational effects and additional forms of energy dissipation. Simulations of the model are applied to parabolic, wedge and hyperbolic billiards that are driven sinusoidally. The simulations demonstrate that the parabola has stable, periodic motion, while the wedge and hyperbola (at high driving frequencies) appear chaotic. The hyperbola, at low driving frequencies, behaves similarly to the parabola; i.e., has regular motion. Direct comparisons are made between the model's predictions and previously published experimental data. The value of the coefficient of restitution employed in the model resulted in good agreement with the experimental data for all boundary shapes investigated. It is shown that the data can be successfully modeled with a simple set of parameters without an assumption of exotic energy dependence.Comment: 11 pages, 11 figures. arXiv admin note: substantial text overlap with arXiv:1103.443

Concern for information privacy:a cross-nation study of the United Kingdom and South Africa

Individuals have differing levels of information privacy concern, formed by their expectations and the confidence they have that organisations meet this in practice. Variance in privacy laws and national factors may also play a role. This study analyses individuals’ information privacy expectation and confidence across two nations, the United Kingdom and South Africa, through a survey of 1463 respondents. The findings indicate that the expectation for privacy in both countries are very high. However, numerous significant differences exist between expectations and confidence when examining privacy principles. The overall results for both countries show that there is a gap in terms of the privacy expectations of respondents compared to the confidence they have in whether organisations are meeting their expectations. Governments, regulators, and organisations with an online presence need to consider individuals’ expectations and ensure that controls that meet regulatory requirements, as well as expectations, are in place

Dynamic response and impact energy loss in controlled rocking members

Unbonded posttensioning anchors a rocking structural member to its foundation and produces its controlled rocking response when the member undergoes seismic action. Unlike rocking of free‐standing bodies, little attention has been given to the dynamic behavior of these controlled rocking members. This paper utilizes experiments of concrete structural members with unbonded posttensioning, varying member geometries, and levels of initial posttensioning force to (a) characterize the associated impact energy loss and (b) improve modeling of controlled rocking motions. Experimental results show that impact energy loss in controlled rocking members can be captured accurately using the coefficient of restitution (r) approach of the modified simple rocking model (MSRM). Based on the MSRM, a controlled rocking model (CRM) is developed that additionally accounts for the variations in contact length at the member‐to‐foundation (rocking) interface. The CRM reproduces the experimental responses of controlled rocking members with good accuracy and is used to investigate controlled rocking motions under horizontal base excitations

Generalized Dynamic Analysis of Structural Single Rocking Walls (SRWs)

The investigation of structural single rocking walls (SRWs) continues to gain interest as they produce self-centering lateral load responses with reduced structural damage. The Simple Rocking Model (SRM) with modifications has been shown to capture these responses accurately if the SRW and its underlying base are infinitely rigid. This paper advances previous rocking models by accounting for: 1) the inelastic actions at or near the base of the SRW; and 2) the flexural responses within the wall. Included in the proposed advancements are hysteretic and inherent viscous damping associated with these two deformation components so that the total dynamic responses of SRWs can be captured with good accuracy. A system of nonlinear equations of motion is developed, in which the rocking base is discretized into fibers using a zero-length element to locate the associated compressive deformations and damage. The flexural deformations of the rocking body are captured using an elastic term, while the impact events are modeled using impulse-momentum equations. Comparisons with experiments of structural precast concrete and masonry SRWs show that the proposed approach accurately estimates the dynamic responses of different SRWs with and without unbonded posttensioning, for various dynamic excitations and degrees of hysteretic action. Using the proposed approach, a numerical investigation employs different configurations of structural SRWs to quantify the various sources of energy loss, including hysteretic action and impact damping, during various horizontal ground motions