Control of imperfect dynamical systems

Bucolo, Maide; Buscarino, Arturo; Famoso, Carlo; Fortuna, Luigi; Frasca, Mattia

doi:10.1007/s11071-019-05077-4

Cited by 118 publications

(80 citation statements)

References 10 publications

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“…[33][34][35][36] Even controlling the robots in the micrometer space (e.g. fluidic channel) or in the unstable geometry [37,38] or with the assistance of image vision [39], the generated field is still accurate. Table A1.…”

Section: Resultsmentioning

confidence: 99%

An Optimal Design of an Electromagnetic Actuation System towards a Large Homogeneous Magnetic Field and Accessible Workspace for Magnetic Manipulation

Manamanchaiyaporn

Wang

2020

Energies

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Untethered nano-/microrobots have been appealing to biomedical applications under magnetic guidance. Numerous actuation systems are specifically designed to generate either uniform or non-uniform fields which are unable to support all actuating mechanisms of magnetic robots. The size of their accessible space does not enable applications in life sciences (e.g., placing around human parts for tasks or an in vivo experiment in animals). Moreover, homogeneity of uniform magnetic fields is limited in a small region. Here, we propose an electromagnetic coil system that is optimally designed based on numerical simulation investigations to derestrict the mentioned constraints. The built-up system provides a large bore in which magnetic field generation by passing a 10 A current is strong enough for nano-/micromanipulation switchable between uniformity in a large-homogeneous region about 50-mm-wide along the x- and y-axes and 80-mm-wide along the z-axis, and with a non-uniformity of about 12 mT with 100 mT/m. It experimentally carries out potential and versatile controls to manipulate several commonly used microrobots that require a particular type of magnetic field to perform multi-DOF locomotion in diverse viscous environments. (e.g., helical propulsion by rotating magnetic field in the 3D-large workspace and in the complex network path, side-to-side sweeping-slip locomotion by oscillating fields, translation and rocking-slip locomotion by gradient-based fields). Besides, the system can be reproduced into any accessible space size regarding the square coil size to support diverse applications and guarantee the result in both uniformity of magnetic field in the large homogeneous region and a sufficiently strong gradient over the workspace.

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Section: Resultsmentioning

confidence: 99%

An Optimal Design of an Electromagnetic Actuation System towards a Large Homogeneous Magnetic Field and Accessible Workspace for Magnetic Manipulation

Manamanchaiyaporn

Wang

2020

Energies

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“…Liu et al studied an elliptical boundary model method detecting object for intelligent machinery [23,24]. Bucolo et al studied control methods of imperfect dynamical systems [25,26]. e complex characteristics of bamboo-splitting processes make it expensive to devise an accurate mechanism.…”

Section: Introductionmentioning

confidence: 99%

Optimization and Experimental Study of an Intelligent Bamboo-Splitting Machine Charging Manipulator

Liu

Wen

et al. 2020

Journal of Robotics

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A nonautomatic bamboo-splitting machine must charge with material and change tools manually. However, manual charging is very dangerous. An intelligent bamboo-splitting machine can feed automatically and change tools intelligently and has broad application prospects. A charging manipulator is an important part of an intelligent bamboo-splitting machine. The size of the manipulator was optimized here using a genetic algorithm. The capture rate, centering rate, and dynamic characteristics of an intelligent bamboo-splitting machine charging manipulator, in which key factors were considered, were experimentally studied. First, three different manipulators, with arm lengths at 210, 220, and 230 mm, were developed. Then, the bamboo materials were divided into three gradients (60–85, 85–110, and 110–135 mm) according to diameter ranges. Accelerators were used to measure the manipulator arm dynamic characteristics, and a high-speed charge-coupled device was used to record the grasping process. Experimental results showed that the manipulator capture rate with an arm length of = 220 mm was as high as 100%, but that of manipulators with arm lengths of = 210 and 230 mm was 96 and 98.67%, respectively. Thus, the manipulator with a 220 mm arm length showed better performance than the other two manipulators. Trend curves of the influence of material diameter on capture time were similar to an exponential function.

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“…The control of imperfections is a major concern in mechanical systems [27], and in the presented case of this work the control of residual deformations is crucial because these deformations strongly define the buckling onset of thin-walled structures [28,29]. The structure may include defaults made in purpose to trigger the proper folding pattern [30,31] and consequently the proper behavior of the simulation.…”

Section: Introductionmentioning

confidence: 99%

Finite Element Validation of an Energy Attenuator for the Design of a Formula Student Car

López-Campos¹,

Baldonedo²,

Suárez³

et al. 2020

Mathematics

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Passive safety systems of cars include parts on the structure that, in the event of an impact, can absorb a large amount of the kinetic energy by deforming and crushing in a design-controlled way. One such energy absorber part, located in the front structure of a Formula Student car, was measured under impact in a test bench. The test is modeled within the Finite Element (FE) framework including the weld characteristics and weld failure description. The continuous welding feature is almost always disregarded in parts included in impact test models. In this work, the FE model is fully defined to reproduce the observed results. The test is used for the qualitative and quantitative validation of the crushing model. On the one hand, the acceleration against time curve is reproduced, and on the other hand, the plying shapes and welding failure observed in the test are also correctly described. Finally, a model that includes additional elements of the car structure is also simulated to verify that the energy absorption system is adequate according to the safety regulations.

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Control of imperfect dynamical systems

Cited by 118 publications

References 10 publications

An Optimal Design of an Electromagnetic Actuation System towards a Large Homogeneous Magnetic Field and Accessible Workspace for Magnetic Manipulation

An Optimal Design of an Electromagnetic Actuation System towards a Large Homogeneous Magnetic Field and Accessible Workspace for Magnetic Manipulation

Optimization and Experimental Study of an Intelligent Bamboo-Splitting Machine Charging Manipulator

Finite Element Validation of an Energy Attenuator for the Design of a Formula Student Car

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