Pressure Change in Tee Branch Pipe in Oscillatory Flow

Sakamoto, Daisuke; Youn, Chongho; Kagawa, Toshiharu

doi:10.1155/2013/257283

Cited by 3 publications

(2 citation statements)

References 13 publications

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“…To model the pressure propagation and distribution in the tube, we used a simulation method with a distributed model of a pipeline. (22,23)…”

Section: Simulation Modelmentioning

confidence: 99%

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Pneumatic Reservoir Computing for Sensing Soft Body: Computational Ability of Air in Tube and Its Application to Posture Estimation of Soft Exoskeleton

Kawase¹,

Miyazaki²,

Kanno³

et al. 2021

Sensors and Materials

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Sensing and computing the body states of soft-bodied robots require new methods. Recent studies on soft robotics have shown their feasibility to be applied for these purposes; however, they only addressed solid parts and not the behavior of inner fluids in soft robotics. In this study, we investigated the possibility of a framework that can be used to estimate the body state by exploiting air dynamics in tubes connecting chambers. The framework was designed on the basis of the concept of physical reservoir computing. We focused on a case with a single tube connection. A benchmark task emulated a nonlinear system and was evaluated by simulation. The results showed that the computational ability depended on the inner diameter and length of the tube and can be increased by selecting a suitable diameter and length. We physically implemented the framework for the posture estimation of a soft exoskeleton using pneumatic artificial rubber muscles (PARMs) as the connected chambers and evaluated the accuracy of estimation of a thigh angle. The estimation accuracy showed a similar trend as a function of the tube properties as that observed in the simulation. The framework can exploit the dynamics of air in a tube and may be useful for the state estimation of soft-bodied robots.

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“…To model the pressure propagation and distribution in the tube, we used a simulation method with a distributed model of a pipeline. (22,23)…”

Section: Simulation Modelmentioning

confidence: 99%

“…We implemented the distributed model of the pipeline. (22,23) The model is based on the following four equations for the air in the pipeline:…”

Section: Pipeline Modelmentioning

confidence: 99%

Pneumatic Reservoir Computing for Sensing Soft Body: Computational Ability of Air in Tube and Its Application to Posture Estimation of Soft Exoskeleton

Kawase¹,

Miyazaki²,

Kanno³

et al. 2021

Sensors and Materials

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Limit Cycle Generation with Pneumatically Driven Physical Reservoir Computing

Shinkawa

Kawase

Miyazaki

et al. 2023

2023 IEEE International Conference on Robotics and Automation (ICRA)

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Two Pneumatic Chambers Charging Characteristics with a Branch Pipe

Sakamoto¹,

Youn²,

Kagawa³

2015

Transaction of The Japan Fluid Power System Society

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This paper considers the issue of the simultaneous charging of multiple pneumatic actuator chambers using branch pipes. A branch pipe shows complex properties even in steady state flows. Therefore, before carrying out calculations on an unsteady flow, its static characteristics had to be known by experiment. In this paper, experiments and simulations are carried out for the pressure charging process using a basic model of branch pipe system composed of two pneumatic chambers and one branch pipe. Simulation algorithm was made based on the staggered lattices for space discretisation and the upwind differences for time discretisation. The relative differences between the simulated and the experimented pressures in the chambers are less than five percent, which is observed only in a short time just after the start of the charging.

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Pressure Change in Tee Branch Pipe in Oscillatory Flow

Cited by 3 publications

References 13 publications

Pneumatic Reservoir Computing for Sensing Soft Body: Computational Ability of Air in Tube and Its Application to Posture Estimation of Soft Exoskeleton

Pneumatic Reservoir Computing for Sensing Soft Body: Computational Ability of Air in Tube and Its Application to Posture Estimation of Soft Exoskeleton

Limit Cycle Generation with Pneumatically Driven Physical Reservoir Computing

Two Pneumatic Chambers Charging Characteristics with a Branch Pipe

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