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RISThe “α-Invariant”: An Energy-Based Nonlinear Minimal Damping Model for Robotic Joints With Friction
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: System identification of the sinusoidal steady-state response of the Phantom Omni using a local linear model revealed that friction has a non-negligible effect on the accuracy of a global linear model, particularly at low ...
Modeling and Simulation of the Transient Behavior of an Industrial Power Plant Gas Turbine
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This study deals with modeling and simulation of the transient behavior of an Industrial Power Plant Gas Turbine (IPGT). The data used for model setup and validation were taken experimentally during the startup procedure ...
Artificial Neural Network–Based System Identification for a Single Shaft Gas Turbine
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: During recent decades, artificial intelligence has been employed as a powerful tool for identification of complex industrial systems with nonlinear dynamics, such as gas turbines (GT). In this study, a methodology based ...
Dynamical Modeling and Control of Modular Snake Robots With Series Elastic Actuators for Pedal Wave Locomotion on Uneven Terrain
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper introduces the equations of motion of modular 2D snake robots moving in vertical plane employing Series Elastic Actuators (SEAs). The kinematics of such 2D modular snake robot is presented in an efficient matrix ...