Rigidity Influence of Suspended Cable on Free Vibration Modes

The problem of vibration control of overhead line conductors subjected to laminar transverse wind, inducing stationary vibrations by Karmán effect is of high importance due to consequences upon these structures lifetime and service. We consider the cable model as Euler-Bernoulli beam that include the influence of cable rigidity and that respect the author condition which detaches the suspended cable model of the beam model with viscous, hysteretic or dry friction internal damping hypothesis. The original analytical expression of the free vibration modes and the resonance frequencies equation for the cable with clamped extremities has produced. Some experimental aspects are underlined in the paper

Trajectory optimization for mobile robots using model predictive control

The goal of this article is trajectory generation for biped robots based on Model Predictive Control (MPC) and the receding-horizon principle. Specifically, we want to minimize the error between the desired CoM and ZMP trajectory and the actual one and the cancellation of the shock gradient of the CoM and ZMP movements. Model predictive control (MPC) consist in a finite horizon optimal control scheme which uses a prediction model to predict vehicle response and future states, thus minimizing the current error and optimizing the future trajectory within the prediction horizon. The proposed algorithm will provide a trajectory of control inputs which will optimize the system states utilizing a quadratic form cost function similar to standard linear quadratic tracking. Specific to finite horizon control, the cost is summed over the finite prediction horizon of time length, rather than over an infinite time horizon. Many techniques have been proposed, developed, and applied to solve this constrained optimization problem for the mobile robots. With our aproach we try to investigate how is the MPC framework is applicable to trajectory generation for point-to-point problems with a fixed final time and to find a set of assumptions and methods that allow for real-time solutions

News on modeling of walking robot critical positions

The principal objective of our study is to emphasize the strategies for the walking robot mathematical model to traverse an uneven terrain, respecting the hypothesis of environment model defined by us. The multiple aspects on axiomatic systems, with possible application to environment’s mathematical model axiomatization, open an interesting new way of research and is exposed in the first part of the paper. Our study on the walking robot begins with formulation of improved mathematical model for physical identification derived from geometrical identification of critical position in particular case of waking robot leg. The physical identification of the critical position is analyzed in the paper on our concrete case of walking robot leg mathematical model. The specialized algorithm performed by us is used for verification of the theory. The new directions of research, opened by our analyses in this area, are described

Retracted: Application for position and load reference generation of a simulated mechatronic chain

This article was withdrawn and retracted by the Journal of Fundamental and Applied Sciences and has been removed from AJOL at the request of the journal Editor in Chief and the organisers of the conference at which the articles were presented (www.iccmit.net). Please address any queries to [email protected]

Retracted: On environment's mathematical model and multilegged walking robot stable evolution

This article was withdrawn and retracted by the Journal of Fundamental and Applied Sciences and has been removed from AJOL at the request of the journal Editor in Chief and the organisers of the conference at which the articles were presented (www.iccmit.net). Please address any queries to [email protected]