Modal Coupling in Presence of Dry Friction

Simone, Marco Claudio De; Guida, Domenico

doi:10.3390/machines6010008

Cited by 67 publications

(19 citation statements)

References 40 publications

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“…The results of this study will be used to develop a small tracked machine for agricultural applications to be used in viticulture. This activity has been developed at our Laboratory of Applied Mechanics, where we build small autonomous vehicles and robots for practical civil and agricultural applications [50][51][52][53][54][55][56][57][58] and test control systems in the presence of friction [59][60][61][62][63][64][65][66][67][68]. This work is organized as follows.…”

Section: Introductionmentioning

confidence: 99%

Obstacle Avoidance System for Unmanned Ground Vehicles by Using Ultrasonic Sensors

2018

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Artificial intelligence is the ability of a computer to perform the functions and reasoning typical of the human mind. In its purely informatic aspect, it includes the theory and techniques for the development of algorithms that allow machines to show an intelligent ability and/or perform an intelligent activity, at least in specific areas. In particular, there are automatic learning algorithms based on the same mechanisms that are thought to be the basis of all the cognitive processes developed by the human brain. Such a powerful tool has already started to produce a new class of self-driving vehicles. With the projections of population growth that will increase until the year 2100 up to 11.2 billion, research on innovating agricultural techniques must be continued. In order to improve the efficiency regarding precision agriculture, the use of autonomous agricultural machines must become an important issue. For this reason, it was decided to test the use of the "Neural Network Toolbox" tool already present in MATLAB to design an artificial neural network with supervised learning suitable for classification and pattern recognition by using data collected by an ultrasonic sensor. The idea is to use such a protocol to retrofit kits for agricultural machines already present on the market.

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Section: Introductionmentioning

confidence: 99%

Obstacle Avoidance System for Unmanned Ground Vehicles by Using Ultrasonic Sensors

2018

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“…In general, the mechanical components of a multibody system can be considered either rigid bodies or flexible bodies [17][18][19][20][21][22][23]. In recent years, the most important formulation approaches that have emerged for modeling the complex dynamic behavior of multibody systems are the FFRF (Floating Frame of Reference Formulation) and the ANCF (Absolute Nodal Coordinate Formulation) [24][25][26][27][28][29][30]. The FFRF is a formulation approach that allows for modeling large reference translations, large finite rotations, and small deformations of flexible multibody systems.…”

Section: Introductionmentioning

confidence: 99%

On the Evaluation of Errors in the Virtual Design of Mechanical Systems

Villecco

2018

Machines

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Abstract:In this article, the information value is used in numeric analysis as both a method for data approximation and a measure of data equality among a set of values. To this end, a surface segmentation, based on a study for constructing a hierarchy for vectors clustering using certain similarity criteria, is presented. The technique is based on the analysis of vectors representing regions associated with given types of critical points. An approach based on the Max Entropy in Metric Space (MEMS) is introduced in the paper, in order to extract a cluster of local features and to obtain an analysis of mechanical systems in the 2D and/or 3D spaces. The approach proposed in the paper can be effectively used in virtual prototyping and optimal designing of mechanical systems.

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“…As shown in several investigations, the multibody approach used for modelling the dynamics of mechanical systems constrained by mechanical joints represents an effective and efficient method for describing the kinematic structure of a given mechanical system and for analyzing the dynamic behavior resulting from a prescribed loading condition [43][44][45][46][47][48][49][50][51]. In this paper, therefore, a comparative study is carried out considering two general formulation strategies and two important solution procedures for solving the differential-algebraic dynamic equations of mechanical systems composed of multiple rigid bodies connected by mechanical joints.…”

Section: Introductionmentioning

confidence: 99%

On the Computational Methods for Solving the Differential-Algebraic Equations of Motion of Multibody Systems

Pappalardo

Guida

2018

Machines

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In this investigation, different computational methods for the analytical development and the computer implementation of the differential-algebraic dynamic equations of rigid multibody systems are examined. The analytical formulations considered in this paper are the Reference Point Coordinate Formulation based on Euler Parameters (RPCF-EP) and the Natural Absolute Coordinate Formulation (NACF). Moreover, the solution approaches of interest for this study are the Augmented Formulation (AF) and the Udwadia-Kalaba Equations (UKE). As shown in this paper, the combination of all the methodologies analyzed in this work leads to general, effective, and efficient multibody algorithms that can be readily implemented in a general-purpose computer code for analyzing the time evolution of mechanical systems constrained by kinematic joints. This study demonstrates that multibody algorithm based on the combination of the NACF with the UKE turned out to be the most effective and efficient computational method. The conclusions drawn in this paper are based on the numerical results obtained for a benchmark multibody system analyzed by means of dynamical simulations.

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Modal Coupling in Presence of Dry Friction

Cited by 67 publications

References 40 publications

Obstacle Avoidance System for Unmanned Ground Vehicles by Using Ultrasonic Sensors

Obstacle Avoidance System for Unmanned Ground Vehicles by Using Ultrasonic Sensors

On the Evaluation of Errors in the Virtual Design of Mechanical Systems

On the Computational Methods for Solving the Differential-Algebraic Equations of Motion of Multibody Systems

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