Dynamic Equations Of Motion Research Articles

Dynamic modelling and predictive position/force control of a plant-inspired growing robot

This paper presents the development and control of a dynamic model for a plant-inspired growing robot, termed the 'vine-robot', using the Euler-Lagrangian method. The unique growth mechanism of the vine-robot enables it to navigate complex environments by extending its body. We derive the dynamic equations of motion and employ model predictive control to regulate the task space position, orientation, and interaction forces. Simulation experiments are conducted to evaluate the performance of the proposed model and control strategy. The results demonstrate that the model effectively achieves sub-millimeter precision in the position control in both static and time varying refrence trajectroies, and sub micronewton in force control.

Scalable O(log2n) Dynamics Control for Soft Exoskeletons

Robotic exoskeletons are being actively applied to support the activities of daily living (ADL) for patients with hand motion impairments. In terms of actuation, soft materials and sensors have opened new alternatives to conventional rigid body structures. In this arena, biomimetic soft systems play an important role in modeling and controlling human hand kinematics without the restrictions of rigid mechanical joints while having an entirely deformable body with limitless points of actuation. In this paper, we address the computational limitations of modeling large-scale articulated systems for soft robotic exoskeletons by integrating a parallel algorithm to compute the exoskeleton’s dynamics equations of motion (EoM), achieving a computation with O(log2n) complexity for the highly articulated n degrees of freedom (DoF) running on p processing cores. The proposed parallel algorithm achieves an exponential speedup for n=p=64 DoF while achieving a 0.96 degree of parallelism for n=p=256, which demonstrates the required scalability for controlling highly articulated soft exoskeletons in real time. However, scalability will be bounded by the n=p fraction.

Hybrid trajectory tracking control of wheeled mobile robots using predictive kinematic control and dynamic robust control

AbstractTrajectory tracking control of wheeled mobile robots (WMRs) is still a remarkable problem for many applications. In the present paper, a hybrid control is presented based on dynamic and kinematic equations of motion for wheeled mobile robots in the presence of the sum of the external disturbances and parametric uncertainty. The designed control for the WMR utilizes control and guidance to reach the reference path. In many studies, a control strategy is normally employed for WMR. However, in this study, hybrid control was used for the mentioned purpose. Akin to other studies, the kinematic control scheme here was based on the predictive control, and the dynamic control scheme was designed based on the robust control. Therefore, in this article, having introduced the kinematic model, a nonlinear predictive control was proved and designed. In the next step, a finite‐time integral type terminal sliding mode control (FITSMC) was designed based on the nonlinear dynamic model in order to automatically adjust the control gain and eliminate online disturbances and destructive chattering phenomena completely. In particular, a finite‐time disturbance observer was designed to estimate the external disturbances. The proof of the new proposed control scheme was presented using Lyapunov stability theory and numerical results. The mentioned integrated scheme, including predictive control (outer loop) and nonlinear adaptive control (inner loop), ensures the convergence and optimal tracking performance of all signals, as a result of which the tracking errors can arbitrarily converge to the origin in a finite time. In the final step, the simulation results were presented to show the effectiveness of the proposed scheme using MATLAB software, and the introduced control design was compared with a similar controller quantitatively and qualitatively.

Research on the change of the combined moment of inertia for two-link manipulator with angular coordinate system

The main of the problems of the development of two-link manipulators with an angular coordinate system is the lack of effective and universal control systems capable of implementing energy-intensive modes of movement. This is due to the design features of the pointer system of such manipulators and the methods of their use. During the operation of the manipulator, significant dynamic loads occur in its drive system, which create oscillations of the mechanical system and reduce the accuracy of work. The control system must also effectively compensate for such dynamic variations. Dynamic equations of motion used to build manipulator control controllers, which allow taking into account various features of using manipulators. These mathematical models necessarily contain one of the characteristics in the form of the combined moment of inertia of the mechanical system, which is important in the calculation of differential equations and the determination of kinematic parameters of motion. In this article, the combined moments of inertia of the boom system of a two-link manipulator with an angular coordinate system are determined. A study was carry out and it shown that the nature of the change in the combined moments of inertia influenced by the modes of movement of the boom system links. The results of the study showed that the combined moment of inertia of the boom system of the manipulator is not a constant value, which does not change uniformly under special operating conditions of the machine. To determine the combined moments of inertia, the method of bringing the kinetic energy of the moving system to the drive mechanism was apply. This is relevant, because in the future it will be necessary to adjust the unevenness of the movement of the manipulator links by the drive itself. The study was conduct for a typical linear motion mode and a motion mode with a change in speed along a parabolic trajectory.

Dynamic stability and response of morphing wing structure with time-varying stiffness

Abstract Morphing, adaptable or smart structures are being used in mechanical and aerospace applications in recent years. These structures often have the property of time-varying stiffness or inertial properties, which can cause parametric instability issues that are not well understood. This paper examines the dynamic stability and response of a morphing aircraft wing with periodically time-varying structural stiffness. The wing is modeled as a beam with coupled bending-torsion motion, and parametrically excited stiffness. Aerodynamic loads introduce aerodynamic damping and aerodynamic stiffness to the wing structure. The dynamic and aeroelastic equation of motion resembles a coupled, damped Mathieu-type equation but differs with asymmetric damping and stiffness matrices, and symmetric inertial matrix. Further, these equations are functions of airspeed, magnitude and frequency of parametric excitation. Initially, dynamic stability of the wing is analyzed using Floquet theory, and the instability regions are numerically quantified by stability charts. Subsequently, dynamic responses in the stable and unstable regions are investigated with a Floquet-based Harmonic balance method. The findings reveal that, at zero airspeed, the combination instabilities are eliminated by varying the bending and torsional stiffness with equal magnitudes and frequency. However, as airspeed increases, instability regions shift unevenly, leading to the emergence of new instabilities. Furthermore, the response analysis within stable regions uncovers several unfavorable zones for operating the variable stiffness, where response decay is slower. The results clearly show that parametric excitation can cause unusual phenomena that significantly impact the operation of morphing wings with variable stiffness, which needs to be thoroughly investigated for successful implementation.

A General Method for Solving Differential Equations of Motion Using Physics-Informed Neural Networks

The physics-informed neural network (PINN) is an effective alternative method for solving differential equations that do not require grid partitioning, making it easy to implement. In this study, using automatic differentiation techniques, the PINN method is employed to solve differential equations by embedding prior physical information, such as boundary and initial conditions, into the loss function. The differential equation solution is obtained by minimizing the loss function. The PINN method is trained using the Adam algorithm, taking the differential equations of motion in structural dynamics as an example. The time sample set generated by the Sobol sequence is used as the input, while the displacement is considered the output. The initial conditions are incorporated into the loss function as penalty terms using automatic differentiation techniques. The effectiveness of the proposed method is validated through the numerical analysis of a two-degree-of-freedom system, a four-story frame structure, and a cantilever beam. The study also explores the impact of the input samples, the activation functions, the weight coefficients of the loss function, and the width and depth of the neural network on the PINN predictions. The results demonstrate that the PINN method effectively solves the differential equations of motion of damped systems. It is a general approach for solving differential equations of motion.

Small cross section of the synthesis of darmstadtium in the Ca48+Th232 reaction

The smallness of the cross section of evaporation residues formed in the hot fusion reaction Ca48+Th232 is analyzed by the dinuclear system model (DNS). The capture probability has been calculated by solving the dynamical equations of motion for the relative distance between the centers of mass of the DNS nuclei. Fusion of nuclei is considered as evolution of the DNS to a stable compound nucleus. The fusion probability has a bell-like shape and quasifission is one of reasons causing smallness of the yield of the evaporation residues products. Another reason is the decrease of the fission barrier for the isotopes Dm275–285 related with the shell effects in the neutron structure. The agreement of the theoretical results obtained for the yield of the evaporation residues with the experimental data measured in the Factory of Superheavy Elements of Joint Institute for Nuclear Research is well. Published by the American Physical Society 2024

The effect of fastener clip fatigue for high-speed railway on vehicle-track dynamic interaction: Numerical analysis and probabilistic evaluation

To investigate the vehicle-induced fatigue damage evolution of fastener clips and their impact on the vehicle-track (VT) system, a numerical dynamic model is established to achieve probabilistic evaluation. The “rain flow” counting method is adopted to describe the stress cycles of the hazard area of the clips, and the S-N curve is used to predict the fatigue life of the clips. The solution of the dynamic equation of motion is obtained by the time-domain Green's function method, which is an effective method to improve computational efficiency. A versatile iterative algorithm is adopted to solve the nonlinear system considering the damaged clips. In the probabilistic evaluation framework, a novel random field method is employed to depict the spatial variability of clips’ strength. The applicability of the model established in this work in aspects of expressing random damage of fasteners and evaluating the dynamic behavior of the system is demonstrated by different numerical examples. The results show that the dynamic responses of the train and track system significantly exacerbate as the number of train cycles increases, which is closely related to the variability and non-uniform damage of the fasteners. The probability of cumulative damage to the fasteners induced by the train follows a three-stage rule, and the fatigue damage of the non-uniform fastener system caused by the train is greater than that of the uniform situation. In addition, the short wave components of track irregularity will significantly exacerbate the damage to fasteners and therefore degrade the status of the railway line. As the driving speed increases, the damage to the fasteners also increases, but the impact of vehicle speed on the fastener damage is smaller than that of track irregularity, especially in the range of fatigue damage greater than 0.9. Therefore, maintaining the geometric smoothness of the track, controlling the uniformity of the mechanical properties of the fasteners, and reducing the driving speed are feasible measures to extend the service life of the fastener system, thereby ensuring the operation of high-speed trains.

A Novel Semi-Active Control Approach for Flexible Structures: Vibration Control through Boundary Conditioning Using Magnetorheological Elastomers

This research study explores an alternative method of vibration control of flexible beam type structures via boundary conditioning using magnetorheological elastomer at the support location. The Rayleigh–Ritz method has been used to formulate dynamic equations of motions of the beam with MRE support and to extract its natural frequencies and mode shapes. The MRE-based adaptive continuous beam is then converted into an equivalent single-degree-of-freedom system for the purpose of control implementation, assuming that the system’s response is dominated by its fundamental mode. Two different types of control strategies are formulated including proportional–integral–derivative control and on–off control. The performance of controllers is evaluated for three different loading conditions including shock, harmonic, and random vibration excitations.

Gauss Principle of Least Compulsion for Relative Motion Dynamics and Differential Equations of Motion

This paper focuses on Gauss principle of least compulsion for relative motion dynamics and derives differential equations of motion from it. Firstly, starting from the dynamic equation of the relative motion of particles, we give the Gauss principle of relative motion dynamics. By constructing a compulsion function of relative motion, we prove that at any instant, its real motion minimizes the compulsion function under Gaussian variation, compared with the possible motions with the same configuration and velocity but different accelerations. Secondly, the formula of acceleration energy and the formula of compulsion function for relative motion are derived because the carried body is rigid and moving in a plane. Thirdly, the Gauss principle we obtained is expressed as Appell, Lagrange, and Nielsen forms in generalized coordinates. Utilizing Gauss principle, the dynamical equations of relative motion are established. Finally, two relative motion examples also verify the results' correctness.

Unloading properties based elastoplastic continuous contact force model: Restitution and stiffness characterization

A nonlinear contact force model is developed for spherical elastoplastic impacts. The nonlinear contact force model is constructed based on an existing piecewise model and the other based on the force–displacement diagram. The energetic impact law of the coefficient of restitution is used to solve for the unloading restitution stiffness. An integration of the dynamic equation of motion and proper use of initial conditions is performed to solve for the maximum deformation. Furthermore, the contact force law from the force–displacement diagram is used at maximum deformation to obtain a physical expression of the final indentation in terms of the maximum deformation and compression and restitution stiffness. In addition, the principle of the unloading linear stiffness is used and two equivalent closed form solutions are derived for the unloading linear stiffness. Moreover, a closed form solution of the maximum force is derived based on the unloading stiffness closed form solutions. The final and unloading indentation properties of the new model are investigated by performing numerical simulations for all coefficient of restitution values ranging from elastic to plastic impacts.

Thermal Vibration of Thick FGM Conical Shells by Using Third-Order Shear Deformation Theory.

A time-dependent third-order shear deformation theory (TSDT) approach on the displacements of thick functionally graded material (FGM) conical shells under dynamic thermal vibration is studied. Dynamic equations of motion with TSDT for thick FGM conical shells are applied directly with the partial derivative of variable R*θ in the curve coordinates (x, θ, z) instead of y in the Cartesian coordinates (x, y, z) for thick FGM plates, where R* is the middle-surface radius at any point on conical shells. The generalized differential quadrature (GDQ) numerical method is used to solve the dynamic differential equations in equilibrium matrix forms under thermal loads. It is the novelty of the current study to identify the parametric effects of shear correction coefficient, environment temperature, TSDT model, and FGM power law index on the displacements and stresses in the thick conical shells only subjected to sinusoidal heating loads. The physical parts with values on the length-to-thickness ratio equals 5, and 10 FGMs can be used in an area of an airplane engine that usually operates near more than 1000 K of temperatures when the thermal stress is considered and affected. The important findings of the presented study are listed as follows. The values of normal stress are in decreasing tendencies with time in cases when the coefficient c1 equals 0.925925/mm2 in TSDT and length-to-thickness ratio equals 5. The shear stress values in x plane z direction on the minor middle-surface radius (r) equals the major middle-surface radius (R) over 8 and length-to-thickness ratio equals to 5 can withstand T = 1000 K of pressure.

Is the effective potential effective for dynamics?

We critically examine the applicability of the effective potential within dynamical situations and find, in short, that the answer is negative. An important caveat of the use of an effective potential in dynamical equations of motion is an explicit violation of energy conservation. An effective potential is introduced in a consistent quasistatic approximation, and its narrow regime of validity is discussed. Two ubiquitous instances in which even the adiabatic effective potential is not valid in dynamics are studied in detail: parametric amplification in the case of oscillating mean fields, and spinodal instabilities associated with spontaneous symmetry breaking. In both cases profuse particle production is directly linked to the failure of the effective potential to describe the dynamics. We introduce a consistent, renormalized, energy conserving dynamical framework that is amenable to numerical implementation. Energy conservation leads to the emergence of asymptotic highly excited, entangled stationary states from the dynamical evolution. As a corollary, decoherence via dephasing of the density matrix in the adiabatic basis is argued to lead to an emergent entropy, formally equivalent to the entanglement entropy. The results suggest novel characterization of asymptotic equilibrium states in terms of order parameter vs energy density. Published by the American Physical Society 2024

H∞ closed-form solution of tuned mass damper enhanced with negative stiffness element (TMD-NS) for structural vibration control

Negative stiffness element has been applied to improve the control performance of tuned mass dampers (TMDs) recently, and two tuned mass dampers enhanced with negative stiffness (TMD-NS) element, namely KDamper (Without loss of generality, it is referred to as TMD-NS I in the present study) and Extended KDamper (EKD, TMD-NS II), have been developed. Previous studies have demonstrated the control effectiveness of TMD-NS I and II. However, there still exist some issues to be addressed: (1) previous studies normally optimize TMD-NS via the intricate and time-consuming numerical methods, the analytical solutions for the optimal design parameters of TMD-NS II remain unknown; (2) a comprehensive and exhaustive evaluation that compares the control effectiveness of TMD-NS I and II is absent from existing literature. To fill these research gaps, this study derives closed-form optimum solutions for TMD-NS II using the H∞ approach. The control effectiveness of TMD-NS I and II in suppressing the seismic responses of structures is investigated systematically. Specifically, the analytical model of an undamped SDOF system equipped with TMD-NS I or II is first developed within a unified framework, and corresponding dynamic equations of motion are formulated. Subsequently, the optimal parameters of TMD-NS I and II are derived based on the classical “fixed-point” theory. Based on the derived optimal parameters, the control effectiveness of TMD-NS I and II are examined by using a damped SDOF system subjected to harmonic excitations and real earthquake ground motions. Finally, a 5-storey isolated benchmark building model is adopted to further investigate the effectiveness of TMD-NS in the seismic protection of engineering structures. The results reveal that the derived closed-form solutions are accurate in capturing the optimal parameters of TMD-NS. In addition, both the optimized TMD-NS I and II outperform the conventional TMD in reducing the seismic responses of structures. Furthermore, TMD-NS I proves more effective in reducing the absolute acceleration of the isolated building, whereas TMD-NS II demonstrates better performance in mitigating the isolating deformation. In a nutshell, both the TMD-NS I and II are highly effective alternatives to conventional TMDs, showcasing superior performance in vibration reduction and robustness.

Theory of elastic wave propagation in a fluid-saturated multi-porous medium with multi-permeability

This paper establishes the concept of elastic wave propagation in a multi-porous medium with different permeabilities by assuming there are n distinct pore fluid phases. The dynamic equation of motion of elastic wave propagation through this multi-porous medium is derived based on Lagrangian mechanics. In this regard, the generalized form of mass coefficients and then the energy loss due to the fluid phases in terms of dissipation coefficients are presented for low-frequency limits with the help of Darcy’s Law of multi-phases system. The elastic coefficients of the constitutive equation in terms of compliance matrix are identified using a series of Gedanken experiments. Some significant results regarding the compressional and rotational waves in a multi-porosity medium are derived. The validation of the theory has been shown by comparing it with the existing theory of single and double porosity. It is observed that there are ( n + 1 ) compressional waves corresponding to solid and fluid phases, whereas only one rotational wave is associated with the solid phase. The concept of multi-porosity theory can contribute to a deeper understanding of wave behaviour in a porous medium.

Thermoelastic free vibration of rotating pretwisted porous p-FGM, e-FGM, and s-FGM conical shells in nonlinear temperature distribution

The free vibration response of rotating pretwisted functionally graded (FG) conical shells in nonlinear thermal conditions is investigated using a finite element approach with the purpose of application in turbomachinery blades. With the aid of power, exponential, and sigmoid laws, the pretwisted conical shell is functionally graded in its transverse direction. The distribution of both even and uneven porosity is considered. The one-dimensional Fourier heat conduction equation is used to assess the nonlinear temperature distribution across the thickness of the FG conical shell. Lagrange’s equation is used to obtain the dynamic equation of motion of the rotating pretwisted FG conical shell. The proposed finite element model employs an eight-noded isoparametric shell element with five degrees of freedom per node. The effect of several factors, including porosity, temperature, twist angle, and rotational speed on the free vibration response of the FG porous conical shell has been investigated. The findings reveal that the porosity volume fraction has a significant influence on the natural frequency. The nonlinear temperature difference and pretwist angle both cause stiffness reduction to the FG conical shell upon increasing, whereas the presence of rotational speed inducts geometrical stiffness resulting in centrifugal stiffening.

Simulating the Dynamics of Oscillating Differential Equations of Mass in Motion

This research explores the practical implementation and simulation of oscillatory differential equations concerning objects in motion. The methodology incorporates power series polynomials, ensuring adherence to the fundamental properties of these functions. The novel approach is applied to various oscillatory differential equations, encompassing harmonic motion, spring motion, dynamic mass motion, Betiss and Stiefel equations, and nonlinear differential equations. The results demonstrate computational reliability, showcasing enhanced accuracy and quicker convergence compared to currently examined methods. Dynamic motion, Genesio, Harmonic motion, Mass, Spring of motion

Nonlinear dynamic response of a temperature-dependent FGM spherical shell under various boundary conditions and thermal shocks: Examination of dynamic snap-through

In this study, a comprehensive exploration of the nonlinear dynamic snap-through phenomenon observed in shallow spherical shells composed of functionally graded materials (FGMs) is examined. The analysis encompasses the interplay of thermomechanical characteristics within metal and ceramic phases, taking into account their temperature-dependent behaviors. To address this problem, the transient heat conduction equation in a nonlinear form, accounting for the temperature dependence factor is derived. To solve this complexity, the Generalized Differential Quadrature (GDQ) method is employed, coupled with the Crank-Nicolson time integrating scheme, leveraging an iterative approach for precision. The formulation of nonlinear dynamic motion equations is based on Hamilton's principle and incorporates the utilization of nonlinear strain-displacement equations and uncoupled thermoelasticity. In the spatial domain, GDQ proves invaluable in solving these nonlinear, coupled equations. In the temporal domain, the Newmark procedure in conjunction with the Newton-Raphson iterative method are utilized to navigate through dynamic equations, yielding insights into shell's behavior over time. In the initial stages of the investigation, we validate our spherical shell formulation and methodologies by comparing shell's response with existing, simpler works. This step ensures the reliability and accuracy of our model. The primary objective is to assess the presence and characteristics of the thermal snap-through phenomenon within the shell under these diverse conditions.

Active vibration suppression of tetrachiral auxetic core sandwich panel with CFRP skin: An RVE homogenization-assisted finite element approach

Free vibration as well as the controlled dynamic response of moderately-thick smart sandwich panel are numerically explored considering the size effect of chiral unit cells at the microscopic level, with the help of RVE-assisted-finite element (FE) approach. In this scientific article, the authors have made a debut attempt to analyse the smart damping behaviour of a tetrachiral-type auxetic core sandwich panel (with carbon/epoxy skin) deploying a real-time based constant velocity feedback controller in a closed loop configuration. Effective anisotropic elastic properties as well as the reduced stiffness matrix of the cellular core layer have been determined by using RVE-FE based full-scale homogenization technique in ANSYS® platform. Dynamic equation of motion governing the plate structure, has been derived using an energy-based variational principle, and further solved with the help of a quadratic interpolation based finite element method. The mid-plane kinematics of the plate structure are assumed to follow first order shear deformation theory (FSDT). A number of numerical examples have been solved and compared with previously published literature to ensure the consistency of the present homogenization-cum-numerical approach. From the observation it is found that, the natural frequency and the controlled dynamic response of tetrachiral-type sandwich structure are very much sensitive towards the geometry (cell wall thickness, ligament length etc.) and architecture of the unit cell of the auxetic core. Also, a comparison study has been performed between tetrachiral auxetic smart sandwich and regular hexagonal honeycomb smart sandwich plate, which confirms about the mechanical advantage of the former over the later configuration, due to the existence of out-of-plane negative Poisson's ratio (NPR) and axial-shear coupling stiffness. Afterwards, a few additional numerical examples have been solved by changing different influencing parameters of the auxetic core sandwich plate and important results are reported in the article.

Solving the Non-Linear Dynamic Equations of Motion of a Variable Curvature Continuum Robot Using Runge-Kutta Method and MATLAB Software

Solving the Non-Linear Dynamic Equations of Motion of a Variable Curvature Continuum Robot Using Runge-Kutta Method and MATLAB Software