Related papers: Wheel Dynamic Load Estimation Method Based on Gas …
In this paper, a novel method to estimate dynamic load parameters via ambient PMU measurements is proposed. Unlike conventional parameter identification methods, the proposed algorithm does not require the existence of large disturbance to…
Soft robotic systems are known for their flexibility and adaptability, but traditional physics-based models struggle to capture their complex, nonlinear behaviors. This study explores a data-driven approach to modeling the…
This paper presents a new approach to accurately simulating 3D overhead cranes with friction. Although nonlinear friction dynamics has a significant impact on these systems, accurately modeling this phenomenon in simulations is a…
This paper proposes a novel purely measurement-based method for estimating dynamic load parameters in near real-time when stochastic load fluctuations are present. By leveraging on the regression theorem for the Ornstein-Uhlenbeck process,…
Modern hydraulic shock absorbers display a wealth of nonlinear effects such as hysteresis and instabilities at high flow rates. Despite their wide application in practically all vehicles, both on- and off-road, a universal analytical model…
Accurate real-time estimation of end effector interaction forces in hydraulic excavators is a key enabler for advanced automation in heavy machinery. Accurate knowledge of these forces allows improved, precise grading and digging maneuvers.…
This paper presents the analytic modeling of mobile heavy-duty manipulators with actively articulated suspension and its optimal control to maximize its static and dynamic stabilization. By adopting the screw theory formalism, we consider…
Among the intelligent safety technologies for road vehicles, active suspensions controlled by embedded computing elements for preventing rollover have received a lot of attention. The existing models for synthesizing and allocating forces…
Accurate identification of parameters of load models is essential in power system computations, including simulation, prediction, and stability and reliability analysis. Conventional point estimation based composite load modeling approaches…
The precision, stability, and performance of lightweight high-strength steel structures in heavy machinery is affected by their highly nonlinear dynamics. This, in turn, makes control more difficult, simulation more computationally…
In this article, we investigate the model based position control of soft hydraulic actuators arranged in an antagonistic pair. A dynamical model of the system is constructed by employing the port-Hamiltonian formulation. A control algorithm…
A non-hydrostatic depth-averaged model for dry granular flows is proposed, taking into account vertical acceleration. A variable friction coefficient based on the $\mu(I)$ rheology is considered. The model is obtained from an asymptotic…
Muscle models and animal observations suggest that physical damping is beneficial for stabilization. Still, only a few implementations of mechanical damping exist in compliant robotic legged locomotion. It remains unclear how physical…
This paper develops a new quasi-static modeling framework for tracked robots based on the power dissipation method. Given a set of track speeds, this method predicts the vehicle's instantaneous rigid body motion. We introduce three specific…
For autonomous driving or advanced driving assistance, it is key to monitor the vehicle dynamics behavior. Accurate models of this behavior include acceleration, but also the side-slip angle, that eventually results from the complex…
We present a novel framework for rigid body dynamics in ambient media, such as air or water, enabling accurate motion prediction of objects without requiring computational fluid dynamics simulations. Our method computes the added mass of…
The performances of braking control systems for robotic platforms, e.g., assisted and autonomous vehicles, airplanes and drones, are deeply influenced by the road-tire friction experienced during the maneuver. Therefore, the availability of…
Natural gas hydrates are considered a potential resource for gas production on industrial scales. Gas hydrates contribute to the strength and stiffness of the hydrate-bearing sediments. During gas production, the geomechanical stability of…
Tire mounted sensors are emerging as a promising technology, capable of providing information about important tire states. This paper presents a survey of the state-of-the-art in the field of smart tire technology, with a special focus on…
This paper presents a design methodology of a hydraulically-driven soft robotic gripper for grasping a large and heavy object -- approximately 10 - 20 kg with 20 - 30 cm diameter. Most existing soft grippers are pneumatically actuated with…