Modeling and Analyses of the N-Link Bent-Arm PenduBot

2010 ◽  
Vol 171-172 ◽  
pp. 644-647
Author(s):  
Shao Qiang Yuan ◽  
Xin Xin Li
Keyword(s):  
Mathematical Model ◽  
Mathematical Models ◽  
Nonlinear Model ◽  
Condition Number ◽  
Kinematics And Dynamics ◽  
Controllability Matrix ◽  
Human Arm ◽  
The World ◽  
The Mathematical Model ◽  
Natural Characteristics

Bent-arm PenduBot is more similar to human arm, which attaches more and more robot experts’ attention around the world. As the foundation of the multi-link PenduBot control, the mathematical model should be established first. Based on the method of kinematics and dynamics, the N-link bent-arm PenduBot mathematical models are established in this paper, including the nonlinear model and the linear model. The natural characteristics of different pendulum are analyzed. By using the condition number of the controllability matrix, the control difficulty for higher order systems is compared.

Dynamic Analysis on a Cable-Driven Interventional Active Catheter Using Kane's Method Combined with Screw Theory

2014 ◽  
Vol 527 ◽  
pp. 140-145
Author(s):  
Da Xu Zhao ◽  
Bai Chen ◽  
Guo Zhong Shou ◽  
Yu Qi Gu
Keyword(s):  
Mathematical Model ◽  
Dynamic Analysis ◽  
Motion Control ◽  
Screw Theory ◽  
Driving Forces ◽  
Structure Design ◽  
Kinematics And Dynamics ◽  
Existing Problems ◽  
Blind Area ◽  
The Mathematical Model

In view of the existing problems of traditional interventional catheters, particularly poor activity, operation difficulty and mass blind area, a novel interventional catheter with a cable-driven active head-end is proposed, and a prototype was built to verify the performance. This paper deals with the kinematics and dynamics of the cable-driven prototype, a dynamic model based on Kanes method combined with screw theory was presented in this paper. According the mathematical model and the prototypes structure, the analysis of kinematics and dynamics of active head-end-end is done in the environment of Mathematica. The needed driving forces of every joint when the system moving along planned trajectory are calculated. The results can provide a basis for the structure design and motion control of the interventional active catheter.

scholarly journals NECESSITY TO IMPROVE THE MATHEMATICAL MODEL OF FREIGHT CARS TO STUDY CASES OF ITS DERAILMENTS

2020 ◽  
pp. 442-451
Author(s):  
А.V. Batig ◽  
A. Ya. Kuzyshyn
Keyword(s):  
Mathematical Model ◽  
Mathematical Models ◽  
Computer Experiment ◽  
Rolling Stock ◽  
Software Systems ◽  
Freight Car ◽  
The Stability ◽  
The Many ◽  
The Impact ◽  
The Mathematical Model

One of the most important problems that pose a serious threat to the functioning of railways is the problem of freight cars derailment. However, according to statistics, the number of cases of the derailments of freight cars in trains annually grows. Тo prevent such cases, the necessary preventive measures are developed, and to study the causes of their occurrence, a significant number of mathematical models, programs and software systems created by leading domestic and foreign scientists. Studies of such mathematical models by the authors of this work have led to the conclusion that they are not sufficiently detailed to the extent that it is necessary for analyze the reasons of its derailment. At the same time, an analysis of the causes of the rolling stock derailments on the railways of Ukraine over the past five years showed that in about 20 % of cases they are obvious, and in 7 % of cases they are not obvious and implicitly expressed. The study of such cases of rolling stock derailment during an official investigation by the railway and during forensic railway transport expertises requires the use of an improved mathematical model of a freight car, which would allow a quantitative assessment of the impact of its parameters and rail track on the conditions of railway accidents. Therefore, taking into account the main reasons that caused the occurrence of such railroad accidents over the last five years on the railways of Ukraine, the article selected the main directions for improving the mathematical model of a freight car, allowing to cover all the many factors (explicit and hidden) and identify the most significant ones regarding the circumstances of the derailment rolling stock off the track, established on the basis of a computer experiment. It is proposed in the mathematical model of a freight car to take into account the guiding force, the value of which is one of the main indicators of the stability of the rolling stock. The authors of the article noted that not taking into account the influence of the guiding forces on the dynamics of the freight car can lead to an erroneous determination of the reasons for the rolling stock derailment or even to the impossibility of establishing them.

scholarly journals Analysis on Present Mathematical Model for Predicting the Crop Production

2020 ◽  
Vol 9 (12) ◽  
pp. 168-170
Keyword(s):  
Mathematical Model ◽  
Mathematical Models ◽  
Real World ◽  
Crop Production ◽  
Ghg Emissions ◽  
Data Set ◽  
Factors Affecting ◽  
The Government ◽  
The Mathematical Model ◽  
Government Website

India is a worldwide agriculture business powerhouse. Future of agriculture-based products depends on the crop production. A mathematical model might be characterized as a lot of equations that speak to the conduct of a framework. By using mathematical model in agriculture field, we can predict the production of crop in particular area. There are various factors affecting crops such as Rainfall, GHG Emissions, Temperature, Urbanization, climate, humidity etc. A mathematical model is a simplified representation of a real-world system. It forms the system using mathematical principles in the form of a condition or a set of conditions. Suppose we need to increase the crop production, at that time the mathematical model plays a major role and our work can be easier, more significant by using the mathematical model. Through the mathematical model we predict the crop production in upcoming years. .AI, ML, IOT play a major role to predict the future of agriculture, but without mathematical models it is not possible to predict crop production accurately. To solve the real-world agriculture problem, mathematical models play a major role for accurate results. Correlation Analysis, Multiple Regression analysis and fuzzy logic simulation standards have been utilized for building a grain production benefit depending model from crop production. Prediction of crop is beneficiary to the farmer to analyze the crop management. By using the present agriculture data set which is available on the government website, we can build a mathematical model.

BASIC MATHEMATICAL MODELS AND AN APPROXIMATE METHOD OF FILTRATION THEORY

2021 ◽  
pp. 25-31
Author(s):  
Alla A. Mussina
Keyword(s):  
Mathematical Model ◽  
Porous Media ◽  
Mathematical Models ◽  
Heterogeneous Porous Media ◽  
Effective Management ◽  
Filtration Theory ◽  
New Device ◽  
Scientific Papers ◽  
The Mathematical Model ◽  
Inhomogeneous Liquids

The article defines the basic concepts of filtration theory and provides an overview of the existing mathematical models of inhomogeneous liquids in porous media. The paper considers the Stefan problem. The number of scientific papers devoted to the study of porous structures has recently increased. This is primarily due to the fact that the prob-lems of oil and uranium production have been identified, and the solution of environmental problems is overdue. Therefore, a new device is needed to develop models of liquid filtration. With the advent and development of computer technology, it has become easier to solve problems that require numerical methods for their solution. Understanding the movement of fluids and the mechanism of dissolution of rocks under the action of acids in heterogeneous porous media is of great importance for the extraction and production of oil and the effective management of these processes. The article examines the mathematical model of the theory of isothermal filtration. Possible variants of the solva-bility of the model are shown. The research scheme consists of the output of a mathematical model, the formulation of the problem, one variant of the solution of the problem, the algorithm of the numerical method of solving the problem.

Mathematical Representation of Quality of Service (QoS) Parameters for Internet of Things (IoT)

2020 ◽  
pp. 364-376
Author(s):  
Sandesh Mahamure ◽  
Poonam N. Railkar ◽  
Parikshit N. Mahalle
Keyword(s):  
Mathematical Model ◽  
Quality Of Service ◽  
Internet Of Things ◽  
Gap Analysis ◽  
Literature Survey ◽  
Mathematical Representation ◽  
The World ◽  
Qos Parameters ◽  
The Mathematical Model

Now we are in the era of ubiquitous computing. Internet of things (IoT) is getting matured in various parts of the world. In coming few years' billions and trillions of things will be connected to the internet. To deal with these huge number of devices in a network we need to consider Quality of Service (QoS)parameters so that system operations can be performed in a smoother way. Mathematical modelling of these QoS parameters gives an idea about which factors are needs to consider while designing any IoT-enabled system at the same time it will give the performance analysis of the system before implementation. In this paper comprehensive literature survey is done to discuss various issues related to QoS and gap analysis is also done for IoT Enabled systems. This paper proposes general steps to build a mathematical model for a system. It also proposes the mathematical model for QoS parameters like reliability, communication complexities, latency and aggregation of data for IoT. To support proposed mathematical model proof of concept also given.

An Efficient Approach to Define the Input Stimuli to Suppress Epileptic Seizures Described by the Epileptor Model

2020 ◽  
Vol 30 (11) ◽  
pp. 2050062
Author(s):  
João Angelo Ferres Brogin ◽  
Jean Faber ◽  
Douglas Domingues Bueno
Keyword(s):  
Nonlinear Dynamics ◽  
Mathematical Model ◽  
Exact Solution ◽  
Feedback Control ◽  
Epileptic Seizures ◽  
Neural Dynamics ◽  
Practical Application ◽  
Control Gain ◽  
The World ◽  
The Mathematical Model

Epilepsy affects about 70 million people in the world. Every year, approximately 2.4 million people are diagnosed with epilepsy, two-thirds of them will not know the etiology of their disease, and 1% of these individuals will decease as a consequence of it. Due to the inherent complexity of predicting and explaining it, the mathematical model Epileptor was recently developed to reproduce seizure-like events, also providing insights to improve the understanding of the neural dynamics in the interictal and ictal periods, although the physics behind each parameter and variable of the model is not fully established in the literature. This paper introduces an approach to design a feedback-based controller for suppressing epileptic seizures described by Epileptor. Our work establishes how the nonlinear dynamics of this disorder can be written in terms of a combination of linear sub-models employing an exact solution. Additionally, we show how a feedback control gain can be computed to suppress seizures, as well as how specific shapes applied as input stimuli for this purpose can be obtained. The practical application of the approach is discussed and the results show that the proposed technique is promising for developing controllers in this field.

scholarly journals Diagnostics of supercapacitors

2018 ◽  
Vol 182 ◽  
pp. 01009 ◽  
Author(s):  
Valeriy Martynyuk ◽  
Oleksander Eromenko ◽  
Juliy Boiko ◽  
Tomasz Kałaczyński
Keyword(s):  
Mathematical Model ◽  
Mathematical Models ◽  
Methodological Approach ◽  
Frequency Dispersion ◽  
Technical Condition ◽  
Transient Processes ◽  
Nonlinear Frequency ◽  
Diagnostic Reliability ◽  
General Reliability ◽  
The Mathematical Model

The paper represents the mathematical model for diagnostics of supercapacitors. The research objectives are the problem of determining a supercapacitor technical condition during its operation. The general reliability of diagnostics is described as the methodological and instrumental reliabilities of diagnostics. The instrumental diagnostic reliability of supercapacitor includes the probabilities of errors of the first and second kind, α and β respectively. The methodological approach to increasing the reliability of supercapacitor diagnostic has been proposed, in terms of multi-parameter supercapacitor diagnostic by applying nonlinear, frequency dependent mathematical models of supercapacitors that take into account nonlinearity, frequency dispersion of parameters and the effect of transient processes in supercapacitors. The more frequencies, operating voltages and currents are applied in the supercapacitor diagnostics, the more methodological reliability of diagnostics will increase in relation to the methodological reliability of supercapacitor diagnostics when only one frequency, voltage and current are applied.

Mobile Robots Characterized by Kinematic and Dynamic Equations: Motion Planning, Trajectory Tracking, and Group Control

2008 ◽  
Author(s):  
Amit Ailon
Keyword(s):  
Mathematical Model ◽  
Motion Planning ◽  
Mobile Robots ◽  
Dynamic Equations ◽  
Kinematics And Dynamics ◽  
Control Problems ◽  
Reference Trajectory ◽  
Numerical Examples ◽  
Group Control ◽  
The Mathematical Model

The paper solves some control problems of mobile robots as both kinematics and dynamics are intertwined in the mathematical model. The problems of driving the vehicle to a desired configuration in a specified time and tracking a reference trajectory are considered. The control problems associated with motion in convoy and rigid formations of a group of vehicles are studied and some results are demonstrated by numerical examples.

Research on Noise Simulation of Infrared Detector

2012 ◽  
Vol 433-440 ◽  
pp. 4120-4123
Author(s):  
Shu Li Lou ◽  
Yan Li Han ◽  
Jian Cun Ren ◽  
Xiao Hu Yuan ◽  
Xiao Dong Zhou
Keyword(s):  
Mathematical Model ◽  
Mathematical Models ◽  
Infrared Imaging ◽  
Imaging System ◽  
Infrared Detector ◽  
System Research ◽  
Infrared Imaging System ◽  
Noise Simulation ◽  
And Performance ◽  
The Mathematical Model

Noises of infrared detector have an important influence on sensitivity of infrared imaging system, and it affect the imaging quality and performance of infrared system. Research on noises of infrared detector is a challenging topic in designing, simulating and evaluating of infrared imaging system. All kinds of noises are studied in detail, and mathematical models are built. The method of simulating noises of detector is proposed, and noises are simulated based on the mathematical model.

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