The simultaneous liquid-liquid flow usually manifests various flow configurations due to a diverse range of fluid properties, flow-controlling processes, and equipment. This study investigates the performance of machine learning (ML) algorithms to classify nine oil-water flow patterns (FPs) in the horizontal pipe using liquid and pipe geometric properties. The MLs include Support Vector Machine, Ensemble learning, Random Forest, Multilayer Perceptron Neural Network, k-Nearest Neighbor, and weighted Majority Voting (wMV). Eleven hundred experimental data points for nine FPs are extracted from the literature. The data are balanced using the synthetic minority over-sampling technique during the MLs training phase. The MLs' performance is evaluated using accuracy, sensitivity, specificity, precision, F1-score, and Matthews Correlation Coefficient. The results show that the wMV can achieve 93.03% accuracy for the oil-water FPs. Seven out of nine FPs are classified with more than 93% accuracies. A Friedman's test and Wilcoxon Sign-Rank post hoc analysis with Bonferroni correction show that the FPs accuracy using wMV is significantly higher than using the MLs individually (p<0.05). This study demonstrated the capability of MLs in automatically classifying the oil-water FPs using only the fluids' and pipe's properties, and is crucial for designing an efficient production system in the petroleum industry.
{"title":"Automated flow pattern recognition for liquid-liquid flow in horizontal pipes using machine-learning algorithms and weighted majority voting","authors":"M. F. Wahid, R. Tafreshi, Zurwa Khan, A. Retnanto","doi":"10.1115/1.4056903","DOIUrl":"https://doi.org/10.1115/1.4056903","url":null,"abstract":"\u0000 The simultaneous liquid-liquid flow usually manifests various flow configurations due to a diverse range of fluid properties, flow-controlling processes, and equipment. This study investigates the performance of machine learning (ML) algorithms to classify nine oil-water flow patterns (FPs) in the horizontal pipe using liquid and pipe geometric properties. The MLs include Support Vector Machine, Ensemble learning, Random Forest, Multilayer Perceptron Neural Network, k-Nearest Neighbor, and weighted Majority Voting (wMV). Eleven hundred experimental data points for nine FPs are extracted from the literature. The data are balanced using the synthetic minority over-sampling technique during the MLs training phase. The MLs' performance is evaluated using accuracy, sensitivity, specificity, precision, F1-score, and Matthews Correlation Coefficient. The results show that the wMV can achieve 93.03% accuracy for the oil-water FPs. Seven out of nine FPs are classified with more than 93% accuracies. A Friedman's test and Wilcoxon Sign-Rank post hoc analysis with Bonferroni correction show that the FPs accuracy using wMV is significantly higher than using the MLs individually (p<0.05). This study demonstrated the capability of MLs in automatically classifying the oil-water FPs using only the fluids' and pipe's properties, and is crucial for designing an efficient production system in the petroleum industry.","PeriodicalId":327130,"journal":{"name":"ASME Letters in Dynamic Systems and Control","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131357836","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Erratum: “New Compound Fractional Sliding Mode Control and Super-Twisting Control of a MEMS Gyroscope” [ASME Letters in Dynamic Systems and Control, Oct. 2022, 2(4), p. 040904-1; DOI: 10.1115/1.4055878]","authors":"P. Meckl","doi":"10.1115/1.4056746","DOIUrl":"https://doi.org/10.1115/1.4056746","url":null,"abstract":"\u0000 Due to a family emergency, this paper could not be presented at the 2022 ASME International Mechanical Engineering Congress and Exposition (IMECE).","PeriodicalId":327130,"journal":{"name":"ASME Letters in Dynamic Systems and Control","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-01-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125647173","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This letter presents approaches that reduce the computational demand of including second-order dynamics sensitivity information into optimization algorithms for robots in contact with the environment. A full second-order Differential Dynamic Programming (DDP) algorithm is presented where all the necessary dynamics partial derivatives are computed with the same complexity as DDP's first-order counterpart, the iterative Linear Quadratic Regulator (iLQR). Compared to linearized models used in iLQR, DDP more accurately represents the dynamics locally, but it is not often used since the second-order partials of the dynamics are tensorial and expensive to compute. This work illustrates how to avoid the need for computing the derivative tensor by instead leveraging reverse-mode accumulation of derivatives, extending previous work for unconstrained systems. We exploit the structure of the contact-constrained dynamics in this process. The performance of the proposed approaches is benchmarked with a simulated model of the MIT Mini Cheetah executing a bounding gait.
{"title":"Accelerating Hybrid Systems Differential Dynamic Programming","authors":"John N. Nganga, Patrick M. Wensing","doi":"10.1115/1.4056747","DOIUrl":"https://doi.org/10.1115/1.4056747","url":null,"abstract":"\u0000 This letter presents approaches that reduce the computational demand of including second-order dynamics sensitivity information into optimization algorithms for robots in contact with the environment. A full second-order Differential Dynamic Programming (DDP) algorithm is presented where all the necessary dynamics partial derivatives are computed with the same complexity as DDP's first-order counterpart, the iterative Linear Quadratic Regulator (iLQR). Compared to linearized models used in iLQR, DDP more accurately represents the dynamics locally, but it is not often used since the second-order partials of the dynamics are tensorial and expensive to compute. This work illustrates how to avoid the need for computing the derivative tensor by instead leveraging reverse-mode accumulation of derivatives, extending previous work for unconstrained systems. We exploit the structure of the contact-constrained dynamics in this process. The performance of the proposed approaches is benchmarked with a simulated model of the MIT Mini Cheetah executing a bounding gait.","PeriodicalId":327130,"journal":{"name":"ASME Letters in Dynamic Systems and Control","volume":"370 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-01-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132366278","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper presents a novel technique for control of systems with bounded nonlinearity, convex state constraints, and control constraints. The technique is particularly useful for problems whose control constraints may be written as convex sets or the union of convex sets. The problem is reduced to finding bounding solutions associated with linear systems, and it is shown that this can be done with efficient second-order cone program solvers. The nonlinear control may then be interpolated from the bounding solutions. Three engineering problems are solved. These are the Van der Pol oscillator with bounded control and with quantized control, a pendulum driven by a DC motor with bounded voltage control, and a lane change maneuver with bounded rotational control acceleration. For each problem, the resulting second-order cone program solves in approximately 0.1 seconds or less. It is concluded that the technique provides an efficient means of solving certain control problems with control constraints.
{"title":"A Technique for Constrained and Quantized Control of Nonlinear Systems using Second-order Cone Programming","authors":"Olli Jansson, Matthew Harris","doi":"10.1115/1.4056551","DOIUrl":"https://doi.org/10.1115/1.4056551","url":null,"abstract":"\u0000 This paper presents a novel technique for control of systems with bounded nonlinearity, convex state constraints, and control constraints. The technique is particularly useful for problems whose control constraints may be written as convex sets or the union of convex sets. The problem is reduced to finding bounding solutions associated with linear systems, and it is shown that this can be done with efficient second-order cone program solvers. The nonlinear control may then be interpolated from the bounding solutions. Three engineering problems are solved. These are the Van der Pol oscillator with bounded control and with quantized control, a pendulum driven by a DC motor with bounded voltage control, and a lane change maneuver with bounded rotational control acceleration. For each problem, the resulting second-order cone program solves in approximately 0.1 seconds or less. It is concluded that the technique provides an efficient means of solving certain control problems with control constraints.","PeriodicalId":327130,"journal":{"name":"ASME Letters in Dynamic Systems and Control","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130818527","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This letter presents a method to model the disturbance environment of a dual-stage hard disk drive (HDD), which is then used to predict the actuator stroke usage (i.e., the range of actuator displacement used) of a closed-loop track-following controller. In particular, a data driven disturbance modeling approach is proposed and the stochastic interpretation of the H2 norm is used to systematically estimate the microactuator (PZT) stroke usage of the HDD controller. Upper and lower-bound models of the frequency response of the external disturbance environment are used to provide a range of possible stroke usage, which involves a data-driven calibration process. The accuracy of the prediction model is validated in experiments with a controller that differs from the controllers in the calibration data set.
{"title":"Disturbance Modeling and Prediction of Closed-Loop Micro-Actuator Stroke Usage in Dual-Stage Hard Disk Drives","authors":"Manas Chakraborty, R. Caverly","doi":"10.1115/1.4056025","DOIUrl":"https://doi.org/10.1115/1.4056025","url":null,"abstract":"\u0000 This letter presents a method to model the disturbance environment of a dual-stage hard disk drive (HDD), which is then used to predict the actuator stroke usage (i.e., the range of actuator displacement used) of a closed-loop track-following controller. In particular, a data driven disturbance modeling approach is proposed and the stochastic interpretation of the H2 norm is used to systematically estimate the microactuator (PZT) stroke usage of the HDD controller. Upper and lower-bound models of the frequency response of the external disturbance environment are used to provide a range of possible stroke usage, which involves a data-driven calibration process. The accuracy of the prediction model is validated in experiments with a controller that differs from the controllers in the calibration data set.","PeriodicalId":327130,"journal":{"name":"ASME Letters in Dynamic Systems and Control","volume":"173 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124662744","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Ball catching by a robot is one of the challenging and complex control tasks that is extensively studied to achieve human-like skills in robots. Over the last decade, several ball-catching robot designs have attained benchmarks in visual tracking and control algorithms. However, the coordination between the ball's path tracking and the robot's motion planning remains highly sensitive to environmental parameter changes. In general, ball-catching robots require a noise-free background with good lighting and multiple off-board tracking cameras. Also, a common failing point of these systems is the short flight time (or high speed) of the ball and the uncertainties of throwing direction. To address these issues, in this study, we propose a ball-catching platform system that can rapidly orient the platform towards the throwing direction by utilizing two onboard cameras with multi-threading. A GUI platform has been developed to implement the orientation algorithm and mask the ball with high accuracy. Our experimental results show that the proposed orientation platform system can be used in a low-light noisy background, and the overall ball-catching rate increases from 50% to 90% compared to the baseline design. The new system can also avoid erratic platform movements when masking is done in a noisy environment.
{"title":"A NOVEL PLATFORM ORIENTATION SYSTEM FOR PID-CONTROLLED BALL-CATCHING ROBOT","authors":"T. Arif, Stockton McKay, Benjamin Conklin","doi":"10.1115/1.4055837","DOIUrl":"https://doi.org/10.1115/1.4055837","url":null,"abstract":"\u0000 Ball catching by a robot is one of the challenging and complex control tasks that is extensively studied to achieve human-like skills in robots. Over the last decade, several ball-catching robot designs have attained benchmarks in visual tracking and control algorithms. However, the coordination between the ball's path tracking and the robot's motion planning remains highly sensitive to environmental parameter changes. In general, ball-catching robots require a noise-free background with good lighting and multiple off-board tracking cameras. Also, a common failing point of these systems is the short flight time (or high speed) of the ball and the uncertainties of throwing direction. To address these issues, in this study, we propose a ball-catching platform system that can rapidly orient the platform towards the throwing direction by utilizing two onboard cameras with multi-threading. A GUI platform has been developed to implement the orientation algorithm and mask the ball with high accuracy. Our experimental results show that the proposed orientation platform system can be used in a low-light noisy background, and the overall ball-catching rate increases from 50% to 90% compared to the baseline design. The new system can also avoid erratic platform movements when masking is done in a noisy environment.","PeriodicalId":327130,"journal":{"name":"ASME Letters in Dynamic Systems and Control","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127246222","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Moheimin Khan, Justin Wilbanks, Chandler B. Smith, T. Walsh, B. Owens
Vibration testing of complex aerospace structures requires substantial pretest planning. Ground and flight testing of structures can be costly to execute in terms of time and money, so it is pertinent that tests are properly set up to capture mode shapes or dynamics of interest. One of the most important planning tasks is the placement of sensors to acquire measurements for control and characterization of the results. In this paper, we will examine two techniques that can leverage available output from finite element modeling to intelligently place accelerometers for a vibration test to capture the structural dynamics throughout a specified frequency range with a data acquisition channel budget. These two techniques are effective independence (EI) and optimal experimental design (OED). Both methods will be applied to an aerospace structure. Effects of the chosen sets on system equivalent reduction and expansion process (SEREP) is detailed alongside simpler comparison metrics, like the Auto-Modal Assurance Criterion (Auto-MAC). In addition to comparing the resulting instrumentation sets, the application of the two approaches will be compared in terms of the inputs required, the information obtained from their application, and the computation time requirements. Both OED and EI offer an effective method for selecting an instrumentation set for a given vibration test. EI is a straightforward, computationally inexpensive approach that provides effective instrumentation sets. OED provides an effective alternative that is less sensitive to the impact of local modes and leads to a natural ranking of importance for each chosen degree of freedom (DOF).
{"title":"Comparing Instrumentation Selection Techniques for Vibration Testing","authors":"Moheimin Khan, Justin Wilbanks, Chandler B. Smith, T. Walsh, B. Owens","doi":"10.1115/1.4055765","DOIUrl":"https://doi.org/10.1115/1.4055765","url":null,"abstract":"\u0000 Vibration testing of complex aerospace structures requires substantial pretest planning. Ground and flight testing of structures can be costly to execute in terms of time and money, so it is pertinent that tests are properly set up to capture mode shapes or dynamics of interest. One of the most important planning tasks is the placement of sensors to acquire measurements for control and characterization of the results. In this paper, we will examine two techniques that can leverage available output from finite element modeling to intelligently place accelerometers for a vibration test to capture the structural dynamics throughout a specified frequency range with a data acquisition channel budget. These two techniques are effective independence (EI) and optimal experimental design (OED). Both methods will be applied to an aerospace structure. Effects of the chosen sets on system equivalent reduction and expansion process (SEREP) is detailed alongside simpler comparison metrics, like the Auto-Modal Assurance Criterion (Auto-MAC). In addition to comparing the resulting instrumentation sets, the application of the two approaches will be compared in terms of the inputs required, the information obtained from their application, and the computation time requirements. Both OED and EI offer an effective method for selecting an instrumentation set for a given vibration test. EI is a straightforward, computationally inexpensive approach that provides effective instrumentation sets. OED provides an effective alternative that is less sensitive to the impact of local modes and leads to a natural ranking of importance for each chosen degree of freedom (DOF).","PeriodicalId":327130,"journal":{"name":"ASME Letters in Dynamic Systems and Control","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126240321","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Omnidirectional mobile robots are widely used in studies and services as they are effective and efficient in moving in any direction regardless of their current orientation. These significant properties are very useful in energy-efficient navigation and obstacle avoidance in dynamic environments. The literature on modeling and control of omni-wheel robots usually relies on the kinematic model or simplified kinematic model. Then developing control laws based on these reduced-effect models. In this paper, we developed an efficient full dynamic model of a non-holonomic omni-wheel robot, including roller dynamics. That allows for a PID control-law to accurately follow arbitrary paths. Kane’s approach was used for the dynamic model derivation. Kinematic modeling is less complex than multibody dynamic modeling. But to have an accurate simulation of the realistic motions of a mechanical system, the multibody dynamic model is required.
{"title":"ROBUST DYNAMIC MODELING AND TRAJECTORY TRACKING CONTROLLER OF A UNIVERSAL OMNI-WHEELED MOBILE ROBOT","authors":"Nalaka Amarasiri, A. Barhorst, Raju Gottumukkala","doi":"10.1115/1.4055690","DOIUrl":"https://doi.org/10.1115/1.4055690","url":null,"abstract":"\u0000 Omnidirectional mobile robots are widely used in studies and services as they are effective and efficient in moving in any direction regardless of their current orientation. These significant properties are very useful in energy-efficient navigation and obstacle avoidance in dynamic environments. The literature on modeling and control of omni-wheel robots usually relies on the kinematic model or simplified kinematic model. Then developing control laws based on these reduced-effect models. In this paper, we developed an efficient full dynamic model of a non-holonomic omni-wheel robot, including roller dynamics. That allows for a PID control-law to accurately follow arbitrary paths. Kane’s approach was used for the dynamic model derivation. Kinematic modeling is less complex than multibody dynamic modeling. But to have an accurate simulation of the realistic motions of a mechanical system, the multibody dynamic model is required.","PeriodicalId":327130,"journal":{"name":"ASME Letters in Dynamic Systems and Control","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129436973","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
H. Vejdani, Larance Haji, Vernon Fernandez, B. Jawad
In this paper, we first presented a four-bar linkage mechanism for actuating the wings in a flapping wing flying robot. After that, given the additional constraints imposed by the four-bar linkage, we parameterized the wing kinematics to provide sufficient control authority for stabilizing the system during 3D hovering. The four-bar linkage allows the motors to spin continuously in one direction while generating flapping motion on the wings. However, this mechanism constrains the flapping angle range which is a common control parameter in controlling such systems. To address this problem, we divided each wingbeat cycle into four variable-time segments which is an extension to previous work on split-cycle modulation using wing bias but allows the use of a constant flapping amplitude constraint for the wing kinematic. Finally, we developed an optimization framework to control the system for fast recovery while guaranteeing the stability. The results showed that the proposed control parameters are capable of creating symmetric and asymmetric motions between the two wings and therefore, can stabilize the hovering system with minimal actuation and flapping angle amplitude constraint.
{"title":"Mechanism Design and Control of a Winged Hovering Robot with Flapping Angle Constraint","authors":"H. Vejdani, Larance Haji, Vernon Fernandez, B. Jawad","doi":"10.1115/1.4055691","DOIUrl":"https://doi.org/10.1115/1.4055691","url":null,"abstract":"\u0000 In this paper, we first presented a four-bar linkage mechanism for actuating the wings in a flapping wing flying robot. After that, given the additional constraints imposed by the four-bar linkage, we parameterized the wing kinematics to provide sufficient control authority for stabilizing the system during 3D hovering. The four-bar linkage allows the motors to spin continuously in one direction while generating flapping motion on the wings. However, this mechanism constrains the flapping angle range which is a common control parameter in controlling such systems. To address this problem, we divided each wingbeat cycle into four variable-time segments which is an extension to previous work on split-cycle modulation using wing bias but allows the use of a constant flapping amplitude constraint for the wing kinematic. Finally, we developed an optimization framework to control the system for fast recovery while guaranteeing the stability. The results showed that the proposed control parameters are capable of creating symmetric and asymmetric motions between the two wings and therefore, can stabilize the hovering system with minimal actuation and flapping angle amplitude constraint.","PeriodicalId":327130,"journal":{"name":"ASME Letters in Dynamic Systems and Control","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116484292","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The automation of tractors has become increasingly important in recent years. The challenge in automating tractors is to achieve their stable traveling on rough terrain. The unstable behavior of tractors reduces working efficiency, which worsens productivity; additionally, safety concerns arise. Thus, this study aims to investigate the effects of the road surfaces on the behavior of tractors traveling on rough terrain for achieving their stable traveling. We quantify the magnitude of the body vibration of tractors using the H2 norm and theoretically analyze the H2 norm of a system corresponding to a tractor traveling on rough terrain. To improve the accuracy of the analysis, we modify the system by focusing on the relationship between the H2 norm, white noise, and the characteristics of the road surface. We derive the H2 norm of the modified system as a function described using the characteristics of the tractor and road surface. Numerical examples demonstrate that the analysis result based on the modified system accurately captures the behavior of the tractor compared with the result based on the original system. The results in this study clarify the relationship between the magnitude of the body vibration of tractors and the roughness of road surfaces, which helps to achieve the stable traveling on rough terrain.
{"title":"H\u0000 2 Performance Analysis of Tractors Traveling on Rough Terrain","authors":"Shinsaku Izumi, Riku Hayashida, X. Xin","doi":"10.1115/1.4055219","DOIUrl":"https://doi.org/10.1115/1.4055219","url":null,"abstract":"\u0000 The automation of tractors has become increasingly important in recent years. The challenge in automating tractors is to achieve their stable traveling on rough terrain. The unstable behavior of tractors reduces working efficiency, which worsens productivity; additionally, safety concerns arise. Thus, this study aims to investigate the effects of the road surfaces on the behavior of tractors traveling on rough terrain for achieving their stable traveling. We quantify the magnitude of the body vibration of tractors using the H2 norm and theoretically analyze the H2 norm of a system corresponding to a tractor traveling on rough terrain. To improve the accuracy of the analysis, we modify the system by focusing on the relationship between the H2 norm, white noise, and the characteristics of the road surface. We derive the H2 norm of the modified system as a function described using the characteristics of the tractor and road surface. Numerical examples demonstrate that the analysis result based on the modified system accurately captures the behavior of the tractor compared with the result based on the original system. The results in this study clarify the relationship between the magnitude of the body vibration of tractors and the roughness of road surfaces, which helps to achieve the stable traveling on rough terrain.","PeriodicalId":327130,"journal":{"name":"ASME Letters in Dynamic Systems and Control","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125976662","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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