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Active damping of ultrasonic transducers for robotic applications
Proceedings. 1984 IEEE International Conference on Robotics and Automation, 2005Ultrasonic ranging in air over short distances offers advantages for robotic applications. Such sensing methods can employ transducers small enough to fit into a robot gripper, thereby providing terminal homing capability. Any such short range time-of-flight systems, however, have to solve the problem of rapid receiver recovery after the transmit pulse.
Gerald L. Miller +2 more
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Active damping control of compliant base manipulators
Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289), 2003When a robotic manipulator is mounted on a crane, boom or mobile platform, it loses its accuracy and speed due to the compliance of the base. The paper presents a simple robust control strategy that reduces mechanical vibrations and enable better tip positioning.
Jae Y. Lew, Suk-Min Moon
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Vibration and damping analysis of a composite plate with active and passive damping layer
Applied Mathematics and Mechanics, 1999The equations of motion and boundary conditions governing the vibration of nonsymmetric composite plates with active and passive dampings layer are derived. The analytical solution is first obtained for frequencies and loss factors of the plates with active constrained layer damping treatments.
Gao, Jianxin, Shen, Yapeng
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Clipped viscous damping with negative stiffness for semi-active cable damping
Smart Materials and Structures, 2011This paper investigates numerically and experimentally clipped viscous damping with negative stiffness for semi-active cable damping. From simulations it is concluded that unclipped and clipped viscous damping with negative stiffness is equivalent to unclipped and clipped LQR. It is shown that optimized unclipped viscous damping with negative stiffness
F Weber, C Boston
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Active damping of longitudinal oscillations in a wheel loader
2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, 2006A simplified model of the longitudinal motion around a constant velocity trajectory of a wheel loader is developed, for the purpose of finding a control that actively damps oscillations in the acceleration, following an up shifting gear change. Measurements from different drivers and different gear changes indicate similar oscillation frequencies for ...
Elin Hallander, Per-olof Gutman
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Active damping with collocated pairs
1997The role of damping in the gain stabilization of a control system in the roll-off region has been pointed out in the foregoing chapter. The damping also reduces the settling time of the transient response to impulsive loads. Indeed, since the modal expansion of the impulse response matrix corresponding to (2.19) is $$ g\left( \mathcal{T} \right) = \
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Actively Damped Heave Compensation (ADHC) system
Proceedings of the 2010 American Control Conference, 2010In offshore oil and gas exploration and production, high interoperability of underwater components and equipments has become more important in support of Inspection, Maintenance, and Repair (IMR). As drilling goes to deep or ultradeep water, harsh weather leads to an expensive downtime for offshore cranes handling.
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Active Damping with Collocated System
2011The use of collocated (and dual) actuator and sensor pairs, for a lightly damped flexible structure, always leads to alternating poles and zeros near the imaginary axis, Fig.7.1. In this chapter, we use this interlacing property to develop Single Input-Single Output (SISO) active damping schemes with guaranteed stability.
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