Search results for "Control and Systems Engineering"
showing 10 items of 994 documents
odeling of Human Arm Energy Expenditure for Predicting Energy Optimal Trajectories
2011
Human arm motion can inspire the trajectory planning of anthropomorphic robotic arms to achieve energy-efficient movements. An approach for predicting metabolic cost in the planar human arm motion by means of the biomechanical simulation is proposed in this work. Two biomechanical models, including an analytical model and a musculoskeletal model, are developed to implement the proposed approach. The analytical model is developed by modifying a human muscle expenditure model, in which the muscles are grouped as torque providers for computation efficiency. In the musculoskeletal model, the predication of metabolic cost is conducted on the basis of individual muscles. With the proposed approac…
A robust fault detection design for uncertain Takagi-Sugeno models with unknown inputs and time-varying delays
2013
Abstract This paper investigates the problem of robust fault detection system design for a class of uncertain Takagi–Sugeno (T–S) models. The system under consideration is subject to unknown input and time-varying delay. The fault detection system is designed such that the unknown input is thoroughly decoupled from residual signals generated by the fault detection system. Furthermore, the residual signals show the maximum possible sensitivity to the faults and the minimum possible sensitivity to the external disturbances. The model matching approach is utilized to tackle the effects of parametric uncertainties in the model of the system. The design procedure is presented in terms of Linear …
A structured filter for Markovian switching systems
2014
In this work, a new methodology for the structuring of multiple model estimation schemas is developed. The proposed filter is applied to the estimation and detection of active mode in dynamic systems. The discrete-time Markovian switching systems represented by several linear models, associated with a particular operating mode, are studied. Therefore, the main idea of this work is the subdivision of the models set to some subsets in order to improve the detection and estimation performances. Each subset is associated with sub-estimators based on models of the subset. In order to compute the global estimate and subset probabilities, a global estimator is proposed. Theoretical developments ba…
Control design for a hypersonic aircraft using a switched linear parameter-varying system approach
2012
This paper is concerned with the control problem of an air-breathing hypersonic aircraft using a switched linear-parameter-varying systems approach. The rigid non-linear longitudinal model of a generic hypersonic aircraft is adopted with the aim of verifying the design methodology of the developed controller and switching logic. By linearizing the non-linear model of the hypersonic aircraft at trim points and dividing the velocity range into several parts, a switched linear parameter-varying model for the underlying system is derived. With the aid of multiple Lyapunov-like functions technique, controllers that ensure the tracking of given commands of the closed-loop system are designed und…
Development and validation of a nonlinear dynamic impact model for a notch impact
2015
Finite element simulations are being more and more applied when studying the crash-worthiness of vehicles during impact. This paper deals with setting up such a simulation and discusses several ways to simplify and verify a simulated crash. For this purpose, a notch impact-testing machine will be released from a certain angle and crash into a model constructed with three different wall thicknesses. The plastic and elastic deformation is measured in the front of the model and is then used for validation of the simulation. In the end, the simulation was found to be in good agreement with the real crash data.
Self-piercing riveting for aluminium alloys-composites hybrid joints
2008
In the paper, the growing interest on hybrid joints developed between composite panels and aluminium alloys blanks is focused. The self-piercing riveting operation is considered and its feasibility for the proposed joints verified. The most relevant process parameters were investigated in order to determine a suitable process window and, what is more, the mechanical performances of the developed joints were investigated in order to determine process parameters aimed to maximise them. Finally, the failure mechanics of the obtained joints were considered in order to highlight the mechanisms which occur and determine the lost of the load carrying capability of the joints. The developed experim…
On the material flow in fsw of T-joints: influence of geometrical and tecnological parameters
2008
Friction stir welding (FSW) now definitively reached a large interest in the scientific community and what is more in the industrial environment, due to the advantages of such solid state welding process with respect to the classic ones. The latter aspects are relevant also with reference to joints characterized by a complex geometry. What is more, advanced FEM tools permit to develop effective engineering of the processes; quantitative results can be acquired from numerical simulations once basic information, as the process mechanics and the material flow, are certain. Material flow plays a fundamental role in FSW since it determines the effectiveness of the joints or, in turn, the insurge…
Design optimization on the drive train of a light-weight robotic arm
2011
A drive train optimization method for design of light-weight robots is proposed. Optimal selections of motors and gearboxes from a limited catalog of commercially available components are done simultaneously for all joints of a robotic arm. Characteristics of the motor and gearbox, including gear ratio, gear inertia, motor inertia, and gear efficiency, are considered in the drive train modeling. A co-simulation method is developed for dynamic simulation of the arm. A design example is included to demonstrate the proposed design optimization method.
Identification and Experimental Validation of an Induction Motor Thermal Model for Improved Drivetrain Design
2017
The ability of an electric powertrain to perform according to mechanical specifications is equally important as assessing its thermal protection limits, which are affected by its electrical and thermal properties. Although rated parameters (such as power, torque, etc.) are easily accessible in catalogs of equipment producers, more specific properties like mass/length of copper winding, heat dissipation factor, etc., are not available to customers. Therefore, an effective selection of drivetrain components is limited due to the lack of sufficient data and the need to consult critical design decisions with suppliers. To overcome this limitation, we propose a method to estimate the temperature…
On the FSW of AA2024-T4 and AA7075-T6 T-joints: an industrial case study
2009
In this paper, the authors present the results of a wide experimental campaign on aeronautical T-shaped parts of industrial interest characterized by dissimilar materials for the skin and stringer. The friction stir welding process engineering was developed with the aim to determine the specific process parameters determining the soundness on the obtained T-parts both from the metallurgical and mechanical point of view. Furthermore, the performance of the obtained T-joints was investigated.