In this report, we discuss adaptive control of a space robot system with an attitude controlled base on which the robot is attached. We at first derive the system kinematic and dynamic equations based on Lagrangian dynamics and linear momentum conservation law. Using the dynamic model developed, we discuss the problem of linear parameterization in t m s of dynamic parameters, and have found tha...

With the increase of renewable generating capacity following the ambitious targets set by many governments for the next decades, there will be major changes in power generation and challenges for balancing transmission grids. In particular, primary frequency control requirements will be increased following a potential reduction of system inertia. An assessment of the frequency response reserve ...

We have used a simple ionic potential to simulate the melting of KCI pseudo-infinite crystal. Two MD simulations, one with constant Volume and the other with constant pressure condition are performed. These results are compared with the previous micro-sample simulation results. In the constant volume simulation the melting temperature increase substantially with increasing pressure. A method fo...

BACKGROUND Human balance during quiet standing is influenced by adding mass to the body with a backpack, with symmetrically-applied loads to the trunk, or with obesity. Adding mass to the body increases both the weight and inertia of the body, which theoretically could provide counteracting effects on body dynamics and balance. Understanding the independent effects of adding weight and inertia ...

This study examined the effect of the polar moment of inertia of a tennis racket on upper limb loading in the serve. Eight amateur competition tennis players performed two sets of 10 serves using two rackets identical in mass, position of center of mass and moments of inertia other than the polar moment of inertia (0.00152 vs 0.00197 kg.m2). An eight-camera motion analysis system collected the ...

Humans and humanoid robots are often modeled with different types of inverted pendulum models in order to simplify the dynamic analysis of gait, balance and fall. We have earlier introduced the Reaction Mass Pendulum (RMP), an extension of the traditional inverted pendulum models, which explicitly captures the variable rotational inertia and angular momentum of the human or humanoid. In this pa...

The concept of energy based Lyapunov control is extended to marine vessels with a nonsymmetric system inertia matrix. Acceleration feedback is used as the main tool to symmetrize the nonsymmetric part of the system inertia matrix. The main reason for a nonsymmetric mass distribution is hydrodynamic added mass which depend on the forward speed of the vessel and the frequency of the incoming wave...

We study transient growth in inertialess plane Couette and Poiseuille flows of viscoelastic fluids. For streamwise-constant three-dimensional fluctuations, we demonstrate analytically the existence of initial conditions that lead to quadratic scaling of both the kinetic energy density and the elastic energy with the Weissenberg number, We. This shows that in strongly elastic channel flows of vi...

In this work, a novel methodology for the identification of stiffness and damping rotordynamic coefficients in rotor-bearing system is proposed. The mathematical model process based on algebraic technique applied to finite element (FE) with multiple degree-of-freedom (DOF). This considers effects rotational inertia, gyroscopic moments, shear deformations, external linear forces attributable par...