vibration reduction via the boundary control method

... system Controllers are designed for the macro manipulator The above methods suppress the vibration by regulating the dynamics of the macro manipulator These solutions are intuitive since the problem ... joint control algorithms Therefore, more effort needs to be made to eliminate the vibration effect by taking the limitation of the macro manipulator into consideration The second method of force control ... Organizations of the Thesis The thesis is organized as follows: Chapter 1 provides a brief introduction to the motivation of the thesis and highlights the main contributions Chapter 2 presents the current

Ngày tải lên: 09/09/2015, 11:13

... fact, the control problems act as the main source ofthe nonsmooth ODEs and the DVIs Given the dynamics, control and state constraints, and the functions h : Rn→ where the state x(t) ∈ Rn, the control ... this technique is specialized for the nonsmooth equations On the otheraspect, obtained from the smoothing Newton method, the solution map x(t) to thenonsmooth boundary value ODE is proved to be ... inherited and applied to the study of the nonsmooth ODEs.One of common numerical methods for boundary value problem is the shoot-ing method It will provide the primary structure for the algorithm we

Ngày tải lên: 26/09/2015, 09:56

... [CheLi91], the latter method is a variant of the former one 39 As far as we know, this method was used by Li and Zhu in [LiZhu95] 40 A prior to the work by Li and Zhu, to make use of the method of ... this new method to (1.1) since the Hardy-1 Littlewood-Sobolev inequality does not work due to the presence of the negative exponent 2 q 3 The primary aim of this note is to reformulate the method ... successfully Trang 3exploited the conformal invariance of the problem which, as a by-product, captures solu-1 tions directly rather than going the second step as in the method of moving planes, see

Ngày tải lên: 14/10/2015, 07:54

... weaken the requirements onthe regularity of the solution and on the other hand enables us to formulatethe results for a broader class of nonlinearities and, even more, to treat theproblems where the ... nonlinear The reader cancompare our results with the theories presented in [1, 4, 7, 11, 24], forexample Before explaining the main features of the method, we want to emphasizethat the method of ...  E; so the basic idea behind the exponentialattractor is to enlarge the global attractor so that the rate of convergencebecomes exponential, yet keep the ‘‘good’’ properties (i)–(iii) The followinglemma

Ngày tải lên: 29/10/2015, 14:19

... element in the FEM: they bring in the information from the neighboring elements In these S-FEM models, only the CS-FEM applies the strain smoothing technique for elements seperately, while the others ... (k) (k) ney nex In the nCS-FEM, the trial function uh (x) is the same as in Eq (2) of the FEM and therefore the force vector f in the nCS-FEM is calculated in the same way as in the FEM Substituting ... the same as the standard FEM using the same set of nodes 2.5 Dynamic analyses of the nCS-FEM By replacing the stiffness matrix K of the FEM in Eq (3) by the smoothed stiffness ˜ in Eq (18) of the

Ngày tải lên: 16/12/2017, 00:04

... connect to these devices and control them, or another way, with the continued growth of the Internet, a human being can remote control these devices using a web server or an android application These ... eliminating the need to physically interact with the switches to turn them on or off The first part of the paper is a discussion of the fundamental theory that is provided to examine the potential ... that there is one LED from the uppermost, whose brightness is controlled by the PWM approach, and that the other LEDs are changeable by turning them on or off 3.2 ESP32 network connection with the

Ngày tải lên: 24/10/2022, 18:14

... the 4-item perceived boundary control scale by Kossek et  al [26] to measure the extent to which employee perceived control over their boundary environment An example item is, “I control whether ... employees who had higher perceived boundary control than those who had lower perceived boundary control Similarly, high perceived boundary control was shown to strengthen the Shi et al BMC Public Health ... engagement [44] Based on the COR theory and empirical studies, we proposed the following moderation hypothesis: Hypothesis 4  Perceived boundary control will moderate the relationship between

Ngày tải lên: 29/11/2022, 14:23

... evaluating the sensitivity of the method to variations in kinetic growth pathways and violation of the Markov assumption on the kinetics of the nucleus size coordinate V SEEDING METHOD In the framework ... kinetics and the “seeding” method, given that the nucleation barrier height is exponentiated in the CNT rate expression, the largest contribution to error in rate estimates via the “seeding” method ... respectively, the surface and volume free energy densities of the nucleus and F0relaxes the fit by allowing the free energy of the metastable solvent-rich phase to deviate from zero.16 The obtained

Ngày tải lên: 04/12/2022, 15:54

... backwash methods as in Table 3 And through a test of the minimum fluidization, the study has measured head loss values, and regarded as the minimum fluidization velocity the time when their measurements ... Table 1 The present condition of granular activated carbon contact basin facilities The charge amount and indexes of activated carbon 250m 3 (8mⅹ12.5mⅹ2.5m), 24 basins The method of current method ... backwashing than controlling backwash time In the case of water position LL(a height of 60cm over the outer layer of activated carbon) before backwashing, the most efficient backwash method has turned

Ngày tải lên: 05/09/2013, 08:40

... which performs the configured analysis of the traffic and returns the packets to the original data path The reason for the unique port is that traffic in the flow must be dispatched to the same SCE ... trunk port, the trunk port carries the VLAN ID in the 1Q header payload and the 1Q VLAN ID is automatically rewritten at the network EtherChannel connection or by the SCE device from the User VLAN ... without an understanding of the applications on the network and the traffic flow that these applications place on the network Note In the planning of your SCE deployment, the SCE needs to see both

Ngày tải lên: 22/10/2013, 16:15

... between the output of the controller and the valve (used for override control) the output of the selector is connected to the external feedback of the controller This puts the selector ... bring the. .. of the change in the error At the time the error changed the output also changed This is the “gain effect” and is equal to the product of the gain and the change ... output of another controller taking control of the valve In the diagram the lower of the two controller... loop with the positive feedback loop used for integration If there is a selector

Ngày tải lên: 22/12/2013, 21:15

... goods, hypothetical, stated preference methods were preferred to capture the value of these Among the stated preference methods the choice experiment method was deemed preferable to the contingent ... investigate (i) whether and how much the Indian public values any efforts to reduce pollution levels in the Ganga via reduction of the amount of untreated raw sewage deposited therein through the improvement ... aggregating the average WTP over the population of the municipality and comparing this figure to the operating and upgrading costs of the STP The result of this revealed that the annual taxes the residents

Ngày tải lên: 18/02/2014, 01:20

... is then minimised This is the well known Finite Element Method In the alternative (proposed by Trefftz2), the assumed functions satisfy the DE exactly and the error in the satisfaction of the boundary ... it has the character of lightness J.W von Goethe 2.1 STRATEGIES Although the first idea which provided the background for the boundary element method dates back to the early 1900s, the method ... returns the result to F The KIND of the arrays would have to match the Fortran REAL*8 precision The significance of the other parameters need not concern the applications programmer 26 The Boundary...

Ngày tải lên: 13/08/2014, 08:21

... shows the variation of the fundamental solution for the boundary traction in x-direction assuming that the vector normal to the boundary, n , points in the xdirection (this means that the computed ... depends on the current state and can therefore only be written in incremental form These problems are therefore dependent on the deformation (thermal) history As outlined previously, for the boundary ... figure 4.10) 88 The Boundary Element Method with Programming The fundamental solutions for the tractions are obtained by first computing the fundamental solutions for the strains and then applying...

Ngày tải lên: 13/08/2014, 08:21

... solve the boundary value problem (b) by the Trefftz method To apply the Trefftz method, we quite arbitrarily select N points on the boundary of the isolator, where we wish to satisfy the boundary ... potential problems either t or u must be known 132 The Boundary Element Method with Programming on the boundary, there will be as may unknowns as there are nodes In the simplest numerical method, also ... one where the solution is obtained for the following boundary condition: t (b ) t (a) q0 sin (5.5) If the two solutions for the flow normal to the boundary of the isolator are added then: t t...

Ngày tải lên: 13/08/2014, 08:21

... all boundary elements The second part of the SUBROUTINE deals with the case where Pi is one of the nodes of the element which we integrate over To deal with the singularity of the integrand the ... Gauss 144 The Boundary Element Method with Programming Quadrature The integral of the second product only exists as a Cauchy principal value However, these are the diagonal terms of the coefficient ... In the same plane as the element (d) perpendicular to the centre of the element for values of R/L= 0.5, 0.1 , 0.05 Compare with the analytical solution using MATHEMATICA or similar 168 The Boundary...

Ngày tải lên: 13/08/2014, 08:21

... the size of the system is significantly smaller The output from the program consists only of the values of the unknown at the boundary The unknown are either the temperature/displacement or the ... normal to 200 The Boundary Element Method with Programming the boundary/ boundary stresses The computation of the complete flow vectors/stress tensor at the boundary, as well as the computation ... zeroes The other difference with the FEM is that the stiffness matrix is not symmetric This has been claimed as one of the disadvantages of the method However, this is more than compensated by the...

Ngày tải lên: 13/08/2014, 08:21

... convergence of the algorithm In the case where a contour does not start from the boundary a search for the starting point of the contour may be carried out from the boundary Further details can ... 260 The Boundary Element Method with Programming The error of the prediction determined as f ( x1 , y1 ) f1 (9.59) This error is now corrected using the direction n computed at the point Further ... Compared are the maximum deflection at the free end and the bending stresses at the fixed end Note that the maximum bending stresses are obtained directly from the analysis (these are equal to the tractions...

Ngày tải lên: 13/08/2014, 08:21

... implement the method we have also laid the groundwork for the coupling with the finite element method so that there is not much more theory to discuss in Chapter 16 The multi-region method extends the ... 306 The Boundary Element Method with Programming 11.3.1 Subroutine Stiffness_BEM The tasks for the Stiffness_BEM are essentially the same as for the General_Purpose_BEM, except that the boundary ... 332 The Boundary Element Method with Programming We now investigate the other possibilities for the location of Pi Pi is located at one of the discontinuous nodes inside the element and the...

Ngày tải lên: 13/08/2014, 08:21

... be the same The geometry of these single region meshes is shown in Figure 12.15 Only the boundary of the excavated part is discretised and the excavation is done in one single step As the boundary ... first the information about the number of cell nodes, cells and the initial strain to be applied Then the coordinates of the cell nodes and the incidences of the cells are read in Next the additional ... 382 The Boundary Element Method with Programming would have to cover the entire domain, including the part where no swelling occurs Also note that the number of unknowns at the nodes of the boundary...

Ngày tải lên: 13/08/2014, 08:21