Ppt final
•Download as PPTX, PDF•
3 likes•2,501 views
This document discusses the decoupling of a twin rotor MIMO (multiple-input multiple-output) system. It first describes the twin rotor MIMO system laboratory setup, which resembles a twin-rotor helicopter with two perpendicular propellers connected by a pivoting beam. It then presents the mathematical modeling of the system in 2 degrees of freedom dynamics using Newtonian mechanics. Separate 1DOF models are developed for the vertical and horizontal parts, and then combined into a full 2DOF model. Simulation results are shown for the response of the tail and main rotors to various inputs. The conclusion is that there is significant cross coupling between the main and tail rotors.
Report
Share
Report
Share
Recommended
Aircraft control systems
Aircraft Control Systems - Electrical - Mechanical - fly by wire and Landing Systems
Useful for B.E. Aerospace Engineering Students
1. ENGINE MANAGEMENT SYSTEM.pdf
This document provides information on the Engine Management System course offered at the Ministry of Education, Malaysia Vocational College. The 3-credit, semester 2 course aims to teach students to detect defects in engine management systems and assess problems to assign required repairs. Key topics covered include setting up scan tools, performing fuel pressure tests, using scan tools for fuel system diagnosis, analyzing oscilloscope patterns, and checking engine management system components. The course is comprised of 5 hours per week of face-to-face instruction over various topics, with assessment based on competency in tasks like operating diagnostic tools according to specifications.
Quadcopter
This document summarizes the implementation of a quadcopter with live video monitoring. It discusses the structure of the quadcopter, including its mechanical and electronic components. It also describes the SolidWorks design, MATLAB simulation, control theory using PID controllers, and sensor fusion techniques. The goal is to develop a stable quadcopter that can be flown wirelessly from a distance while transmitting live video footage. Future work may focus on more complex autonomous flight routines and swarm coordination.
Robots
Industrial Robots, Robot Anatomy,Joints, Robot Configurations, Robot Actuators/ Drive systems,Robot programming, Teach pendant Programming, Lead through Programming, Robot control systems,Applications,Advatages
Robot Path Control
There are three main categories of industrial robots based on path control: limited sequence robots, playback robots with point-to-point control, and playback robots with continuous path control. Limited sequence robots use limit switches to control joint positions and are best for pick and place operations. Playback robots can be taught paths and positions which are stored and repeated; point-to-point robots move between defined points while continuous path robots can precisely follow curved paths like those needed for arc welding. The stability and speed of a robot's movements are important and can be controlled through damping elements, with higher damping providing more stability at the cost of slower speeds.
Helicopters
The document discusses the history and development of helicopters from the 15th century to the modern era. It covers early pioneers and their designs, including Da Vinci's concept of an aerial screw in 1483. Key developments include Sikorsky establishing records with counter-rotating coaxial rotors in 1909 and his VS-300 breaking records in 1939. The types of rotor systems are defined, including semi-rigid, fully articulated, and rigid rotors. Forces acting on the rotor like torque, gyroscopic precession, and coning are also summarized.
Hydraulic system of landing gear in Aircraft
Introducing the mechanism of hydraulic system in landing gear of civil aircraft, Up-down process and steering operation.
Jet Propulsion: Overview and Mechanical Arrangement
Jet engines work by compressing air, mixing it with fuel, combusting the mixture, and expelling the hot gases out of a nozzle using Newton's third law of motion. The key components of a jet engine are the compressor, combustion chamber, and turbine. Jet engines experience high temperatures that cause expansion and contraction of parts, so bearings are used to allow for differential movement and prevent stresses from developing in the rotating assembly.
Recommended
Aircraft control systems
Aircraft Control Systems - Electrical - Mechanical - fly by wire and Landing Systems
Useful for B.E. Aerospace Engineering Students
1. ENGINE MANAGEMENT SYSTEM.pdf
This document provides information on the Engine Management System course offered at the Ministry of Education, Malaysia Vocational College. The 3-credit, semester 2 course aims to teach students to detect defects in engine management systems and assess problems to assign required repairs. Key topics covered include setting up scan tools, performing fuel pressure tests, using scan tools for fuel system diagnosis, analyzing oscilloscope patterns, and checking engine management system components. The course is comprised of 5 hours per week of face-to-face instruction over various topics, with assessment based on competency in tasks like operating diagnostic tools according to specifications.
Quadcopter
This document summarizes the implementation of a quadcopter with live video monitoring. It discusses the structure of the quadcopter, including its mechanical and electronic components. It also describes the SolidWorks design, MATLAB simulation, control theory using PID controllers, and sensor fusion techniques. The goal is to develop a stable quadcopter that can be flown wirelessly from a distance while transmitting live video footage. Future work may focus on more complex autonomous flight routines and swarm coordination.
Robots
Industrial Robots, Robot Anatomy,Joints, Robot Configurations, Robot Actuators/ Drive systems,Robot programming, Teach pendant Programming, Lead through Programming, Robot control systems,Applications,Advatages
Robot Path Control
There are three main categories of industrial robots based on path control: limited sequence robots, playback robots with point-to-point control, and playback robots with continuous path control. Limited sequence robots use limit switches to control joint positions and are best for pick and place operations. Playback robots can be taught paths and positions which are stored and repeated; point-to-point robots move between defined points while continuous path robots can precisely follow curved paths like those needed for arc welding. The stability and speed of a robot's movements are important and can be controlled through damping elements, with higher damping providing more stability at the cost of slower speeds.
Helicopters
The document discusses the history and development of helicopters from the 15th century to the modern era. It covers early pioneers and their designs, including Da Vinci's concept of an aerial screw in 1483. Key developments include Sikorsky establishing records with counter-rotating coaxial rotors in 1909 and his VS-300 breaking records in 1939. The types of rotor systems are defined, including semi-rigid, fully articulated, and rigid rotors. Forces acting on the rotor like torque, gyroscopic precession, and coning are also summarized.
Hydraulic system of landing gear in Aircraft
Introducing the mechanism of hydraulic system in landing gear of civil aircraft, Up-down process and steering operation.
Jet Propulsion: Overview and Mechanical Arrangement
Jet engines work by compressing air, mixing it with fuel, combusting the mixture, and expelling the hot gases out of a nozzle using Newton's third law of motion. The key components of a jet engine are the compressor, combustion chamber, and turbine. Jet engines experience high temperatures that cause expansion and contraction of parts, so bearings are used to allow for differential movement and prevent stresses from developing in the rotating assembly.
jet engines
Jet engines work by taking in air, compressing it, mixing it with fuel and igniting it to produce hot exhaust gases. These gases are then channeled through a turbine which powers the compressor. The fast moving exhaust gases exit through a nozzle to produce thrust that propels aircraft. Early jet engines were developed in the 1900s but came into widespread use after WWII to power military aircraft due to their superior speed over propeller planes. Modern jet engines include variants like turbofans used on most commercial planes.
Robotics - unit-2-- Drive Systems
The document discusses various robot drive systems and end effectors. It describes hydraulic, pneumatic, and electric drive systems. Hydraulic drives use pressurized fluid and are suitable for heavy loads, while pneumatic drives use compressed air. Electric drives include AC servo motors, DC servo motors, and stepper motors. End effectors for grasping objects include grippers that are mechanical, pneumatic, hydraulic, magnetic, or vacuum-based. The document also provides details on actuators, motors, advantages and disadvantages of different drive types.
Fly By Wire
This document describes a student project to design and fabricate a fly-by-wire system for flight control using an ATmega8 microcontroller and three servo motors. The system takes input from pilot controls like the steering column and foot pedals and sends electronic signals to actuators controlling the flight surfaces. The students' prototype controls the yaw, pitch, and roll of a model aircraft using push switches and servo motors attached to wooden wings to simulate flight control surfaces like elevators and rudders. Simulation and testing confirmed the system could control the servos to rotate between -30 and +30 degrees based on input signals.
WORKING AND PROGRAMMING OF KUKA ROBOT
The document discusses the components, control system, and programming of KUKA robots, including the control panel, robot controller, mechanical construction with 6 axes of movement, coordinate systems, setup procedures like mastering and tool calibration, applications for welding and milling, and programming motion using linear and circular paths.
Air conditioning and icebreaking from aircrafts
This document discusses air conditioning and anti-icing systems used in aircraft. It describes how air conditioning systems work by taking compressed bleed air from the engines and mixing it with cooler air to control the temperature inside the cabin. It also discusses the need for pressurizing the cabin at high altitudes. Regarding anti-icing, it outlines the negative effects of ice buildup and describes various ice detection and removal systems used, such as thermal heating, propeller boots, weeping wings, and electro-impulse deicing.
Gyroscope - A Brief Study by Hardik
The document discusses various gyroscopic flight instruments used in aircraft, including the attitude indicator, heading indicator, and turn indicators. It explains the gyroscopic principles of rigidity in space and precession that allow these instruments to function. The attitude indicator uses gyroscopic rigidity to indicate the aircraft's pitch and roll attitudes relative to the horizon. The heading indicator maintains a fixed orientation to indicate heading. Turn indicators show the rate and quality of turns.
Flight control systems
This document provides an introduction to flight control systems, including:
- A brief history of flight control systems evolving from articulated surfaces to modern fly-by-wire systems.
- An overview of the purpose and basic components of flight control systems, including primary systems for roll, pitch, and yaw control and secondary systems for trim functions.
- Descriptions of the main types of flight control systems - mechanical, hydro-mechanical, and fly-by-wire - and their key characteristics like direct linkage versus electronic signal processing.
- Safety advantages of fly-by-wire systems including increased stability, envelope protection, and integration with auto-pilot functions.
How Helicopter work
INTRODUCTION:
While a helicopter is a far more complex machine than an aeroplane, the fundamental principles of flight are the same.
The rotor blades of a helicopter are identical to the wings of an aeroplane –when air is blown over them, lift is produced.
The crucial difference is that the flow of air is produced by rotating the wings – or rotor blades – rather than by moving the whole aircraft.
When the rotor blades start to spin, the air flowing over them produces lift, and this can cause the helicopter to rise into the air.
So, the engine is used to turn the blades, and the turning blades produce the required lift.
Clutch & Transmission.pptx
The document provides information on overhauling transmission systems for LCV vehicles. It discusses dismantling and reassembling procedures for various gearboxes including the GBS-380, GBS-550, and TA-70 transaxle. The summary discusses the key components covered in the document:
1) The document covers overhauling procedures for various gearboxes used in Tata LCV vehicles including the GBS-380, GBS-550, and TA-70 transaxle.
2) Dismantling and reassembly procedures are provided for each transmission system as well as inspections of individual components and the use of special tools.
3) Information is given on removing the transmissions
Aircraft Gas Turbine Engines
This document provides a summary of aircraft engines, including:
1) It describes the early piston engines used by the Wright Brothers and the development of engines like radial and liquid cooled engines.
2) It explains the basic operation of piston engines using the Otto cycle and common piston engine types like horizontally opposed, Vee, and radial configurations.
3) It introduces gas turbine engines and describes the basic Brayton cycle of compression, combustion, and expansion to produce thrust. Common gas turbine types like turbojets, turbofans, and turboprops are also mentioned.
How helicopters fly
This document summarizes the key developments in helicopter technology from Leonardo Da Vinci's early sketches of an aerial screw in 1480 to modern innovations. Some of the major developments discussed include Paul Cornu building the first working helicopter in 1907, the gyroplane laboratoire setting new records for height, distance, and duration in 1933, and the invention of the turboshaft engine in 1951 which provided more power and allowed helicopters to be bigger and faster. The document also explains the aerodynamic principles that allow helicopters to fly using rotating airfoils and discusses how control mechanisms like the swashplate allow pilots to steer helicopters.
Drive shaft.ppt
The drive shaft connects the transmission output shaft to the rear axle assembly. It consists of a slip yoke, universal joints, and drive shaft. The universal joints allow the drive shaft to flex and transfer power smoothly as the rear axle moves up and down. The drive shaft must be balanced to reduce vibration during high speeds. A transfer case splits power between front and rear axles for four-wheel drive vehicles. It has different ranges like 2H, 4H, and 4L to provide different gear ratios for various terrain.
Air Ambulance Drone (UAV)
1) The document presents a prototype for an air ambulance drone to assist traditional ambulances in saving lives faster by reaching emergencies earlier and monitoring multiple health parameters of patients.
2) The hexacopter drone design is described, which uses 6 motors and propellers for stability and thrust to carry a first aid kit and measure patient temperature, heart rate, and heartbeat to provide doctors vital signs information.
3) The construction of the hexacopter drone is explained, including its frame, motors, batteries, flight controller and other components to enable it to fly and carry medical supplies to emergencies more quickly than road-bound ambulances.
Fuel Systems
This PPT gives a brief explanation about the fuel system used in commercial airplanes. This includes how it's done, different ways to be done and the difficulties faced during the process.
Aircraft configuration
The document outlines a 10-step process for preliminary aircraft configuration design and propulsion system integration. It involves selecting the overall configuration, fuselage layout, propulsion system type and layout, wing and empennage design parameters, landing gear type, and integrating major systems. The goal is to perform initial sizing, modeling, analysis and iteration to develop a feasible preliminary design that meets mission requirements.
Multibody dynamic analysis
Dynamic analysis software is useful for understanding the movement of interconnected rigid bodies as a system. It helps analyze the motion of complex bodies by solving equations of motion using input data like body dimensions, constraints, and forces. The output provides motions, velocities, forces, and other information to understand how the interconnected rigid bodies function as a dynamic system.
Robotics done
The document discusses different types of actuators used in robotics, including pneumatic, hydraulic, and electric actuators. Pneumatic actuators use compressed air and have advantages of low cost and easy control but lack precision. Hydraulic actuators can apply large forces with high power-to-size ratios but require complex servo control and have risks of leakage and fire. Electric actuators are now most common and include stepper motors for position control and DC motors for applications requiring higher power and torque control. The document compares characteristics of different actuator types for robotic applications.
selection of robot
The document discusses factors to consider when selecting robots for various applications, including the number of axes, control system, work volume, and precision required. It provides a table outlining typical technical features needed for common robot applications like material transfer, machine loading, and spot welding. The document also covers factors to evaluate when selecting and designing grippers for robots, such as the part being handled, actuation method, power and signals, and operating environment.
Jet Propulsion: Oil and Lubrication Continued
Turbine engine lubrication systems have three sub-systems: the pressure system supplies clean oil at the proper pressure and temperature to bearings and gears. The scavenge system picks up used oil and returns it to the tank to be recirculated. The breather/vent system removes contaminated air from bearing housings through a de-oiler before blowing it overboard.
Torque converter
The document discusses the torque converter, which transfers torque from an engine to a transmission input shaft. It has three main parts: an impeller, turbine, and stator. Torque converters use fluid coupling to multiply engine torque without a direct mechanical link. Originally, fluid coupling led to a problem, but introducing a stator solved this issue. The torque converter operates in two phases - a torque multiplication phase using stator locking and a coupling phase with freewheeling stator. It finds applications in automatic transmissions and industrial power transmission. A limitation is that it cannot be used with manual transmissions due to its complex fluid coupling design.
Lecture Two-robotics Joint-DrWassan.ppsx
This document discusses robot joints and actuators. It contains the following key points:
1. Robot joints can be either rotary or prismatic, and actuators are used to produce mechanical movement in robots. Common actuator types include electric, pneumatic, hydraulic, and artificial muscles.
2. Robot joints can be categorized by their actuation type, kinematic design, or joint function. The most common actuation type is electric, which uses motors to convert electrical energy into motion.
3. Closed-loop controllers use feedback to control robot states and outputs, allowing for disturbance rejection, guaranteed performance, and improved reference tracking compared to open-loop controllers.
TOMMED UNIT I BASICS OF MECHANISMS.ppt
The document provides an overview of theory of machines and machine elements design. It discusses kinematics, which is the study of motion without considering forces. Kinematics of machines deals with the relative motion between machine parts through displacement, velocity and acceleration. A mechanism is defined as part of a machine that transmits motion and power from input to output. Key concepts discussed include links, kinematic pairs, degrees of freedom, and inversions of mechanisms. Common mechanisms like slider crank chains and their inversions are presented. The document also discusses straight line motion generators, intermittent motion mechanisms, and mechanical advantage in mechanisms.
More Related Content
What's hot
jet engines
Jet engines work by taking in air, compressing it, mixing it with fuel and igniting it to produce hot exhaust gases. These gases are then channeled through a turbine which powers the compressor. The fast moving exhaust gases exit through a nozzle to produce thrust that propels aircraft. Early jet engines were developed in the 1900s but came into widespread use after WWII to power military aircraft due to their superior speed over propeller planes. Modern jet engines include variants like turbofans used on most commercial planes.
Robotics - unit-2-- Drive Systems
The document discusses various robot drive systems and end effectors. It describes hydraulic, pneumatic, and electric drive systems. Hydraulic drives use pressurized fluid and are suitable for heavy loads, while pneumatic drives use compressed air. Electric drives include AC servo motors, DC servo motors, and stepper motors. End effectors for grasping objects include grippers that are mechanical, pneumatic, hydraulic, magnetic, or vacuum-based. The document also provides details on actuators, motors, advantages and disadvantages of different drive types.
Fly By Wire
This document describes a student project to design and fabricate a fly-by-wire system for flight control using an ATmega8 microcontroller and three servo motors. The system takes input from pilot controls like the steering column and foot pedals and sends electronic signals to actuators controlling the flight surfaces. The students' prototype controls the yaw, pitch, and roll of a model aircraft using push switches and servo motors attached to wooden wings to simulate flight control surfaces like elevators and rudders. Simulation and testing confirmed the system could control the servos to rotate between -30 and +30 degrees based on input signals.
WORKING AND PROGRAMMING OF KUKA ROBOT
The document discusses the components, control system, and programming of KUKA robots, including the control panel, robot controller, mechanical construction with 6 axes of movement, coordinate systems, setup procedures like mastering and tool calibration, applications for welding and milling, and programming motion using linear and circular paths.
Air conditioning and icebreaking from aircrafts
This document discusses air conditioning and anti-icing systems used in aircraft. It describes how air conditioning systems work by taking compressed bleed air from the engines and mixing it with cooler air to control the temperature inside the cabin. It also discusses the need for pressurizing the cabin at high altitudes. Regarding anti-icing, it outlines the negative effects of ice buildup and describes various ice detection and removal systems used, such as thermal heating, propeller boots, weeping wings, and electro-impulse deicing.
Gyroscope - A Brief Study by Hardik
The document discusses various gyroscopic flight instruments used in aircraft, including the attitude indicator, heading indicator, and turn indicators. It explains the gyroscopic principles of rigidity in space and precession that allow these instruments to function. The attitude indicator uses gyroscopic rigidity to indicate the aircraft's pitch and roll attitudes relative to the horizon. The heading indicator maintains a fixed orientation to indicate heading. Turn indicators show the rate and quality of turns.
Flight control systems
This document provides an introduction to flight control systems, including:
- A brief history of flight control systems evolving from articulated surfaces to modern fly-by-wire systems.
- An overview of the purpose and basic components of flight control systems, including primary systems for roll, pitch, and yaw control and secondary systems for trim functions.
- Descriptions of the main types of flight control systems - mechanical, hydro-mechanical, and fly-by-wire - and their key characteristics like direct linkage versus electronic signal processing.
- Safety advantages of fly-by-wire systems including increased stability, envelope protection, and integration with auto-pilot functions.
How Helicopter work
INTRODUCTION:
While a helicopter is a far more complex machine than an aeroplane, the fundamental principles of flight are the same.
The rotor blades of a helicopter are identical to the wings of an aeroplane –when air is blown over them, lift is produced.
The crucial difference is that the flow of air is produced by rotating the wings – or rotor blades – rather than by moving the whole aircraft.
When the rotor blades start to spin, the air flowing over them produces lift, and this can cause the helicopter to rise into the air.
So, the engine is used to turn the blades, and the turning blades produce the required lift.
Clutch & Transmission.pptx
The document provides information on overhauling transmission systems for LCV vehicles. It discusses dismantling and reassembling procedures for various gearboxes including the GBS-380, GBS-550, and TA-70 transaxle. The summary discusses the key components covered in the document:
1) The document covers overhauling procedures for various gearboxes used in Tata LCV vehicles including the GBS-380, GBS-550, and TA-70 transaxle.
2) Dismantling and reassembly procedures are provided for each transmission system as well as inspections of individual components and the use of special tools.
3) Information is given on removing the transmissions
Aircraft Gas Turbine Engines
This document provides a summary of aircraft engines, including:
1) It describes the early piston engines used by the Wright Brothers and the development of engines like radial and liquid cooled engines.
2) It explains the basic operation of piston engines using the Otto cycle and common piston engine types like horizontally opposed, Vee, and radial configurations.
3) It introduces gas turbine engines and describes the basic Brayton cycle of compression, combustion, and expansion to produce thrust. Common gas turbine types like turbojets, turbofans, and turboprops are also mentioned.
How helicopters fly
This document summarizes the key developments in helicopter technology from Leonardo Da Vinci's early sketches of an aerial screw in 1480 to modern innovations. Some of the major developments discussed include Paul Cornu building the first working helicopter in 1907, the gyroplane laboratoire setting new records for height, distance, and duration in 1933, and the invention of the turboshaft engine in 1951 which provided more power and allowed helicopters to be bigger and faster. The document also explains the aerodynamic principles that allow helicopters to fly using rotating airfoils and discusses how control mechanisms like the swashplate allow pilots to steer helicopters.
Drive shaft.ppt
The drive shaft connects the transmission output shaft to the rear axle assembly. It consists of a slip yoke, universal joints, and drive shaft. The universal joints allow the drive shaft to flex and transfer power smoothly as the rear axle moves up and down. The drive shaft must be balanced to reduce vibration during high speeds. A transfer case splits power between front and rear axles for four-wheel drive vehicles. It has different ranges like 2H, 4H, and 4L to provide different gear ratios for various terrain.
Air Ambulance Drone (UAV)
1) The document presents a prototype for an air ambulance drone to assist traditional ambulances in saving lives faster by reaching emergencies earlier and monitoring multiple health parameters of patients.
2) The hexacopter drone design is described, which uses 6 motors and propellers for stability and thrust to carry a first aid kit and measure patient temperature, heart rate, and heartbeat to provide doctors vital signs information.
3) The construction of the hexacopter drone is explained, including its frame, motors, batteries, flight controller and other components to enable it to fly and carry medical supplies to emergencies more quickly than road-bound ambulances.
Fuel Systems
This PPT gives a brief explanation about the fuel system used in commercial airplanes. This includes how it's done, different ways to be done and the difficulties faced during the process.
Aircraft configuration
The document outlines a 10-step process for preliminary aircraft configuration design and propulsion system integration. It involves selecting the overall configuration, fuselage layout, propulsion system type and layout, wing and empennage design parameters, landing gear type, and integrating major systems. The goal is to perform initial sizing, modeling, analysis and iteration to develop a feasible preliminary design that meets mission requirements.
Multibody dynamic analysis
Dynamic analysis software is useful for understanding the movement of interconnected rigid bodies as a system. It helps analyze the motion of complex bodies by solving equations of motion using input data like body dimensions, constraints, and forces. The output provides motions, velocities, forces, and other information to understand how the interconnected rigid bodies function as a dynamic system.
Robotics done
The document discusses different types of actuators used in robotics, including pneumatic, hydraulic, and electric actuators. Pneumatic actuators use compressed air and have advantages of low cost and easy control but lack precision. Hydraulic actuators can apply large forces with high power-to-size ratios but require complex servo control and have risks of leakage and fire. Electric actuators are now most common and include stepper motors for position control and DC motors for applications requiring higher power and torque control. The document compares characteristics of different actuator types for robotic applications.
selection of robot
The document discusses factors to consider when selecting robots for various applications, including the number of axes, control system, work volume, and precision required. It provides a table outlining typical technical features needed for common robot applications like material transfer, machine loading, and spot welding. The document also covers factors to evaluate when selecting and designing grippers for robots, such as the part being handled, actuation method, power and signals, and operating environment.
Jet Propulsion: Oil and Lubrication Continued
Turbine engine lubrication systems have three sub-systems: the pressure system supplies clean oil at the proper pressure and temperature to bearings and gears. The scavenge system picks up used oil and returns it to the tank to be recirculated. The breather/vent system removes contaminated air from bearing housings through a de-oiler before blowing it overboard.
Torque converter
The document discusses the torque converter, which transfers torque from an engine to a transmission input shaft. It has three main parts: an impeller, turbine, and stator. Torque converters use fluid coupling to multiply engine torque without a direct mechanical link. Originally, fluid coupling led to a problem, but introducing a stator solved this issue. The torque converter operates in two phases - a torque multiplication phase using stator locking and a coupling phase with freewheeling stator. It finds applications in automatic transmissions and industrial power transmission. A limitation is that it cannot be used with manual transmissions due to its complex fluid coupling design.
What's hot (20)
Similar to Ppt final
Lecture Two-robotics Joint-DrWassan.ppsx
This document discusses robot joints and actuators. It contains the following key points:
1. Robot joints can be either rotary or prismatic, and actuators are used to produce mechanical movement in robots. Common actuator types include electric, pneumatic, hydraulic, and artificial muscles.
2. Robot joints can be categorized by their actuation type, kinematic design, or joint function. The most common actuation type is electric, which uses motors to convert electrical energy into motion.
3. Closed-loop controllers use feedback to control robot states and outputs, allowing for disturbance rejection, guaranteed performance, and improved reference tracking compared to open-loop controllers.
TOMMED UNIT I BASICS OF MECHANISMS.ppt
The document provides an overview of theory of machines and machine elements design. It discusses kinematics, which is the study of motion without considering forces. Kinematics of machines deals with the relative motion between machine parts through displacement, velocity and acceleration. A mechanism is defined as part of a machine that transmits motion and power from input to output. Key concepts discussed include links, kinematic pairs, degrees of freedom, and inversions of mechanisms. Common mechanisms like slider crank chains and their inversions are presented. The document also discusses straight line motion generators, intermittent motion mechanisms, and mechanical advantage in mechanisms.
Presentation1
The document presents a study of the dynamic behavior of a doubly fed induction generator (DFIG) system during three-phase voltage dips. The DFIG system uses a rotor side controller and grid side controller. The objective is to measure the three-phase grid output and stator side flux under simulated voltage dips. The proposed system model includes a wind turbine, asynchronous motor representing the generator, and rotor side and grid side control systems. The output will analyze the three-phase voltage and stator flux after various voltage dips are applied.
Simulation of Linear Induction Motor Using Sliding Mode Controller Technique
ABSTRACT:In the present paper, the mover speed control of a linear induction motor (LIM) using a sliding mode control design is proposed. First, the indirect field-oriented control LIM is derived. The sliding mode control design is then investigated to achieve speed- and flux-tracking under load thrust force disturbance. The numerical simulation results of the proposed scheme present good performances in comparison to that of the classical sliding mode control.In the present paper, a sliding mode controller based onindirect field orientation is proposed for LIM speed controlwhile considering end effects. The proposed controller isapplied to achieve a speed- and flux-tracking objectiveunder parameter uncertainties and disturbance of loadthrust force.
Modeling and Control of a Spherical Rolling Robot Using Model Reference Adapt...
The document describes modeling and control of a spherical rolling robot using model reference adaptive control (MRAC). It presents the mathematical model developed for the robot based on its nonholonomic constraints. MRAC is used to control the robot by adjusting controller parameters to minimize the error between the robot's actual output and the output of a reference model for ideal behavior. Simulation results show the proposed MRAC scheme eliminates steady state error and improves transient response without requiring knowledge of the robot's dynamic equations.
Attitude Control of Satellite Test Setup Using Reaction Wheels
This document summarizes a presentation about attitude control of a satellite test setup using reaction wheels. It describes the mathematical models of DC motors, reaction wheels, and the satellite test setup. It also discusses the implementation of a PID controller to control the satellite's orientation by generating angular velocity references for the reaction wheels. Simulation results show that the settling time of the system was decreased from 21.5 seconds to 6.1 seconds by optimizing the PID gains. Future work is planned to consider effects like vibrations and actuator saturations when testing the system.
Lecture 4-ELECTRIC MOTORS-ACTUATION SYSTEMS2.ppt
This document discusses robot actuation and feedback components, including electric motors and servo motors. It provides details on different types of DC motors like series wound, shunt wound, compound wound, and separately excited motors. It also covers stepper motors, explaining their specifications and full step and half step commutation sequences. Servo motors are defined as motors that can rotate with precision using a closed-loop feedback system to control the shaft position. Applications of different motor types are also listed.
Optimal FOPI-FOPD controller design for rotary inverted pendulum system using...
The rotary inverted pendulum (RIP) has been used in various control application areas. This system can be represented as two degree of freedom (2-DOF), consisting of a rotating arm and rotating pendulum rod. RIP is an excellent example of designing a single-input multi-output (SIMO) system. Due to unstable RIP system dynamics, and its nonlinear model, multiple control techniques have been used to control this system. This paper uses integer and fractional order proportional integral-proportional derivative (PI-PD) controllers to stabilize the pendulum in the vertical direction. Constrained optimization approaches, such as the grey wolf optimization (GWO) methodology, are utilized to estimate the parametric values of the controllers. The simulation results showed that the fractional order PI-PD controller outperforms the integer order PI-PD controller with and without disturbance signal existence. A multiple results comparison has illustrated the superiority of fractional order controller over a previous work.
L4 integration
This document provides an overview of mechatronics integration and industrial robot components. It discusses advanced actuators like pneumatic and electrical actuators. It then describes the main parts of an industrial robot including the controller, drive system, arm, end effectors, and sensors. It explains the functional requirements of robots and different types of robot control systems from limited sequence to intelligent control.
Project paper
This document discusses speed control of a stepper motor using a microcontroller. It describes how a stepper motor works by incrementally moving in steps rather than continuously rotating. The speed is determined by the delay between steps. It then discusses using an AT89C52 microcontroller to control the stepper motor. The AT89C52 features are described, including its architecture, memory size, ports, and timers. Different stepping modes for driving the stepper motor are also outlined, including full step, half step, and microstepping modes. A circuit diagram shows how the microcontroller is connected to a stepper motor driver IC to control the motor's speed.
ELECTRIC POWER GENERATION FROM TRAFFIC
ELECTRIC POWER GENERATION FROM TRAFFIC
This is a mini project slide done by EEE students of calicut university institute of engineering and technology 2013-2017
Module-4_single-phase-Induction-motor-1.pptx
- The document discusses different types of single-phase induction motors including split-phase, capacitor-start, and two-value capacitor motors.
- It describes the double revolving field theory which explains how a single-phase motor produces torque through two rotating magnetic fields.
- Tests like no-load and blocked rotor are discussed to determine the equivalent circuit parameters of a single-phase induction motor.
1 power system dyn (2)we
1. The document discusses power system dynamics and transients, including different classifications of dynamic phenomena based on their time scales such as wave, electromagnetic, and electromechanical dynamics.
2. It introduces the concept of power system stability and provides a definition from IEEE/CIGRE, noting that a stable system can regain equilibrium after a disturbance while keeping variables bounded.
3. Common types of power system stability are described as angle, voltage, and frequency stability, and the swing equation is derived and explained as a fundamental model for analyzing electromechanical dynamics.
Principles of AC Machines.It include Transformer and Three phase Induction Motor
Principles Of AC machines
introduction to mechatronics
This document provides an introduction to actuators and motors in mechatronics. It defines an actuator as a device that converts energy into motion to move or control a mechanism. Actuators can be hydraulic, pneumatic, electric, or mechanical. Electric motors are also discussed, including DC motors which can be brushed or brushless, and different types of DC motors like shunt wound, series wound, and compound wound. Linear actuators are also covered, explaining how to calculate the required force and select an appropriate actuator.
Bn044398401
Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
types of robots
This document discusses types of robots and provides classifications based on application environment and configuration. It describes key components of robots including links, joints, actuators, sensors, and controllers. Main types of actuators are electric motors while common sensors are encoders, force-torque sensors, and proximity sensors. Robots are classified based on number of degrees of freedom and configuration as cartesian, cylindrical or spherical. The document also discusses principles of kinematics, dynamics and control in robotics.
OH-58D modal analysis
This document summarizes the results of a modal analysis performed on an OH-58D helicopter. Key findings include:
1) Several structural vibration modes of the helicopter's tailboom coincide dangerously with main and tail rotor frequencies, which can lead to catastrophic failure.
2) Accelerometers and strain gauges were used to measure vibration responses on the tailboom and stabilizers.
3) Analysis found the main rotor blade and tail rotor shaft frequencies closely matched tailboom structural modes, representing a structural issue.
4) The analysis concludes a new tailboom design is needed to change its structural frequencies and avoid operational resonances, though cost incentives may prevent changes.
Similar to Ppt final (20)
Simulation of Linear Induction Motor Using Sliding Mode Controller Technique
Simulation of Linear Induction Motor Using Sliding Mode Controller Technique
KINEMATICS OF MACHINES-UNIT-I-BASIC CONCEPTS & INTRODUCTION
KINEMATICS OF MACHINES-UNIT-I-BASIC CONCEPTS & INTRODUCTION
Modeling and Control of a Spherical Rolling Robot Using Model Reference Adapt...
Modeling and Control of a Spherical Rolling Robot Using Model Reference Adapt...
Attitude Control of Satellite Test Setup Using Reaction Wheels
Attitude Control of Satellite Test Setup Using Reaction Wheels
Optimal FOPI-FOPD controller design for rotary inverted pendulum system using...
Optimal FOPI-FOPD controller design for rotary inverted pendulum system using...
Principles of AC Machines.It include Transformer and Three phase Induction Motor
Principles of AC Machines.It include Transformer and Three phase Induction Motor
Recently uploaded
Best 20 SEO Techniques To Improve Website Visibility In SERP
Boost your website's visibility with proven SEO techniques! Our latest blog dives into essential strategies to enhance your online presence, increase traffic, and rank higher on search engines. From keyword optimization to quality content creation, learn how to make your site stand out in the crowded digital landscape. Discover actionable tips and expert insights to elevate your SEO game.
Introduction of Cybersecurity with OSS at Code Europe 2024
I develop the Ruby programming language, RubyGems, and Bundler, which are package managers for Ruby. Today, I will introduce how to enhance the security of your application using open-source software (OSS) examples from Ruby and RubyGems.
The first topic is CVE (Common Vulnerabilities and Exposures). I have published CVEs many times. But what exactly is a CVE? I'll provide a basic understanding of CVEs and explain how to detect and handle vulnerabilities in OSS.
Next, let's discuss package managers. Package managers play a critical role in the OSS ecosystem. I'll explain how to manage library dependencies in your application.
I'll share insights into how the Ruby and RubyGems core team works to keep our ecosystem safe. By the end of this talk, you'll have a better understanding of how to safeguard your code.
JavaLand 2024: Application Development Green Masterplan
My presentation slides I used at JavaLand 2024
A Comprehensive Guide to DeFi Development Services in 2024
DeFi represents a paradigm shift in the financial industry. Instead of relying on traditional, centralized institutions like banks, DeFi leverages blockchain technology to create a decentralized network of financial services. This means that financial transactions can occur directly between parties, without intermediaries, using smart contracts on platforms like Ethereum.
In 2024, we are witnessing an explosion of new DeFi projects and protocols, each pushing the boundaries of what’s possible in finance.
In summary, DeFi in 2024 is not just a trend; it’s a revolution that democratizes finance, enhances security and transparency, and fosters continuous innovation. As we proceed through this presentation, we'll explore the various components and services of DeFi in detail, shedding light on how they are transforming the financial landscape.
At Intelisync, we specialize in providing comprehensive DeFi development services tailored to meet the unique needs of our clients. From smart contract development to dApp creation and security audits, we ensure that your DeFi project is built with innovation, security, and scalability in mind. Trust Intelisync to guide you through the intricate landscape of decentralized finance and unlock the full potential of blockchain technology.
Ready to take your DeFi project to the next level? Partner with Intelisync for expert DeFi development services today!
Programming Foundation Models with DSPy - Meetup Slides
Prompting language models is hard, while programming language models is easy. In this talk, I will discuss the state-of-the-art framework DSPy for programming foundation models with its powerful optimizers and runtime constraint system.
System Design Case Study: Building a Scalable E-Commerce Platform - Hiike
This case study explores designing a scalable e-commerce platform, covering key requirements, system components, and best practices.
dbms calicut university B. sc Cs 4th sem.pdf
Its a seminar ppt on database management system using sql
TrustArc Webinar - 2024 Global Privacy Survey
How does your privacy program stack up against your peers? What challenges are privacy teams tackling and prioritizing in 2024?
In the fifth annual Global Privacy Benchmarks Survey, we asked over 1,800 global privacy professionals and business executives to share their perspectives on the current state of privacy inside and outside of their organizations. This year’s report focused on emerging areas of importance for privacy and compliance professionals, including considerations and implications of Artificial Intelligence (AI) technologies, building brand trust, and different approaches for achieving higher privacy competence scores.
See how organizational priorities and strategic approaches to data security and privacy are evolving around the globe.
This webinar will review:
- The top 10 privacy insights from the fifth annual Global Privacy Benchmarks Survey
- The top challenges for privacy leaders, practitioners, and organizations in 2024
- Key themes to consider in developing and maintaining your privacy program
Generating privacy-protected synthetic data using Secludy and Milvus
During this demo, the founders of Secludy will demonstrate how their system utilizes Milvus to store and manipulate embeddings for generating privacy-protected synthetic data. Their approach not only maintains the confidentiality of the original data but also enhances the utility and scalability of LLMs under privacy constraints. Attendees, including machine learning engineers, data scientists, and data managers, will witness first-hand how Secludy's integration with Milvus empowers organizations to harness the power of LLMs securely and efficiently.
FREE A4 Cyber Security Awareness Posters-Social Engineering part 3
Free A4 downloadable and printable Cyber Security, Social Engineering Safety and security Training Posters . Promote security awareness in the home or workplace. Lock them Out From training providers datahops.com
Your One-Stop Shop for Python Success: Top 10 US Python Development Providers
Simplify your search for a reliable Python development partner! This list presents the top 10 trusted US providers offering comprehensive Python development services, ensuring your project's success from conception to completion.
Digital Marketing Trends in 2024 | Guide for Staying Ahead
https://www.wask.co/ebooks/digital-marketing-trends-in-2024
Feeling lost in the digital marketing whirlwind of 2024? Technology is changing, consumer habits are evolving, and staying ahead of the curve feels like a never-ending pursuit. This e-book is your compass. Dive into actionable insights to handle the complexities of modern marketing. From hyper-personalization to the power of user-generated content, learn how to build long-term relationships with your audience and unlock the secrets to success in the ever-shifting digital landscape.
GraphRAG for Life Science to increase LLM accuracy
GraphRAG for life science domain, where you retriever information from biomedical knowledge graphs using LLMs to increase the accuracy and performance of generated answers
Energy Efficient Video Encoding for Cloud and Edge Computing Instances
Energy Efficient Video Encoding for Cloud and Edge Computing Instances
Skybuffer AI: Advanced Conversational and Generative AI Solution on SAP Busin...
Skybuffer AI, built on the robust SAP Business Technology Platform (SAP BTP), is the latest and most advanced version of our AI development, reaffirming our commitment to delivering top-tier AI solutions. Skybuffer AI harnesses all the innovative capabilities of the SAP BTP in the AI domain, from Conversational AI to cutting-edge Generative AI and Retrieval-Augmented Generation (RAG). It also helps SAP customers safeguard their investments into SAP Conversational AI and ensure a seamless, one-click transition to SAP Business AI.
With Skybuffer AI, various AI models can be integrated into a single communication channel such as Microsoft Teams. This integration empowers business users with insights drawn from SAP backend systems, enterprise documents, and the expansive knowledge of Generative AI. And the best part of it is that it is all managed through our intuitive no-code Action Server interface, requiring no extensive coding knowledge and making the advanced AI accessible to more users.
zkStudyClub - LatticeFold: A Lattice-based Folding Scheme and its Application...
Folding is a recent technique for building efficient recursive SNARKs. Several elegant folding protocols have been proposed, such as Nova, Supernova, Hypernova, Protostar, and others. However, all of them rely on an additively homomorphic commitment scheme based on discrete log, and are therefore not post-quantum secure. In this work we present LatticeFold, the first lattice-based folding protocol based on the Module SIS problem. This folding protocol naturally leads to an efficient recursive lattice-based SNARK and an efficient PCD scheme. LatticeFold supports folding low-degree relations, such as R1CS, as well as high-degree relations, such as CCS. The key challenge is to construct a secure folding protocol that works with the Ajtai commitment scheme. The difficulty, is ensuring that extracted witnesses are low norm through many rounds of folding. We present a novel technique using the sumcheck protocol to ensure that extracted witnesses are always low norm no matter how many rounds of folding are used. Our evaluation of the final proof system suggests that it is as performant as Hypernova, while providing post-quantum security.
Paper Link: https://eprint.iacr.org/2024/257
Azure API Management to expose backend services securely
How to use Azure API Management to expose backend service securely
Public CyberSecurity Awareness Presentation 2024.pptx
Cyber security awareness slides for a busisness by TreeTop Security
Taking AI to the Next Level in Manufacturing.pdf
Read Taking AI to the Next Level in Manufacturing to gain insights on AI adoption in the manufacturing industry, such as:
1. How quickly AI is being implemented in manufacturing.
2. Which barriers stand in the way of AI adoption.
3. How data quality and governance form the backbone of AI.
4. Organizational processes and structures that may inhibit effective AI adoption.
6. Ideas and approaches to help build your organization's AI strategy.
Recently uploaded (20)
Best 20 SEO Techniques To Improve Website Visibility In SERP
Best 20 SEO Techniques To Improve Website Visibility In SERP
Introduction of Cybersecurity with OSS at Code Europe 2024
Introduction of Cybersecurity with OSS at Code Europe 2024
JavaLand 2024: Application Development Green Masterplan
JavaLand 2024: Application Development Green Masterplan
A Comprehensive Guide to DeFi Development Services in 2024
A Comprehensive Guide to DeFi Development Services in 2024
Programming Foundation Models with DSPy - Meetup Slides
Programming Foundation Models with DSPy - Meetup Slides
System Design Case Study: Building a Scalable E-Commerce Platform - Hiike
System Design Case Study: Building a Scalable E-Commerce Platform - Hiike
Generating privacy-protected synthetic data using Secludy and Milvus
Generating privacy-protected synthetic data using Secludy and Milvus
WeTestAthens: Postman's AI & Automation Techniques
WeTestAthens: Postman's AI & Automation Techniques
FREE A4 Cyber Security Awareness Posters-Social Engineering part 3
FREE A4 Cyber Security Awareness Posters-Social Engineering part 3
Your One-Stop Shop for Python Success: Top 10 US Python Development Providers
Your One-Stop Shop for Python Success: Top 10 US Python Development Providers
Digital Marketing Trends in 2024 | Guide for Staying Ahead
Digital Marketing Trends in 2024 | Guide for Staying Ahead
GraphRAG for Life Science to increase LLM accuracy
GraphRAG for Life Science to increase LLM accuracy
Energy Efficient Video Encoding for Cloud and Edge Computing Instances
Energy Efficient Video Encoding for Cloud and Edge Computing Instances
Skybuffer AI: Advanced Conversational and Generative AI Solution on SAP Busin...
Skybuffer AI: Advanced Conversational and Generative AI Solution on SAP Busin...
zkStudyClub - LatticeFold: A Lattice-based Folding Scheme and its Application...
zkStudyClub - LatticeFold: A Lattice-based Folding Scheme and its Application...
Azure API Management to expose backend services securely
Azure API Management to expose backend services securely
Public CyberSecurity Awareness Presentation 2024.pptx
Public CyberSecurity Awareness Presentation 2024.pptx
Ppt final
- 1. DECOUPLING OF TWIN ROTOR MIMO SYSTEM By- Murari Lal Garg Vishnuram Abhinav Rahul Nemiwal Kangkana Medhi Under the guidance of Dr. Jeevamma Jacob PHASE - 1
- 2. TRMS • It is a laboratory set-up designed for control experiments. In certain aspects its behaviour resembles that of a twin-rotor helicopter. • TRMS is driven by two D.C. motors • Its two propellers are perpendicular to each other and joined by a beam pivoted on its base that can rotate freely in horizontal and vertical planes • Joined beam can be moved by changing the input • Voltage in order to control rotational speed of propellers • It is equipped with a pendulum counterweight hanging from the beam • It possesses a strong coupling between main and tail rotor • So in certain aspect, it resembles of a twin-rotor helicopter
- 3. Mathematical Modeling • The system is modelled in terms of 2 DOF dynamics using Newtonian mechanics. • All the effective forces have to be considered. • Modelling is classified as 2 part: 1. 1DOF (without coupling)– I. Vertical part(main rotor) II. Horizontal part(tail rotor) 2. 2DOF – combination of both part with cross coupling
- 4. VERTICAL PART(1DOF) • MAIN ROTOR : using Newton torque equation – And, Also,
- 5. Thus, SIMULINK MODEL –
- 6. HORIZONTAL PART (1DOF) • TAIL ROTOR: same as equations in main rotor –
- 7. Thus, SIMULINK MODEL –
- 8. • Motor transfer function and torque function of speed of rotor. Tail rotor- Main rotor-
- 9. Simulation and Results (1DOF) Response of tail rotor
- 10. Response of main rotor
- 13. RESULTS Response of the system with unit step input to main rotor and unit impulse to tail rotor
- 14. Response of tail rotor to various inputs with different main rotor input
- 15. Response of main rotor to different step input
- 16. CONCLUSION • Output of system is obtained what is expected. • Settling time of main rotor is very high. • Response of input to main rotor is highly non- linear. • There is significant effect of main rotor input to tail rotor (cross coupling). • With the zero input to the main rotor, the system is stable at 0.9326rad .
- 17. REFERENCES • [1] Twin Rotor MIMO System 33-220 User Manual, 1998 (M/S Feedback Instruments, Crowborough, UK). • [2] Ahmad, S.M., Shaheed, M.H. Chipperfield, A.J and Tokhi, M.O., “Nonlinear modelling of a twin rotor MIMO system using radial basis function networks ”, IEEE National Aerospace and Electronics Conference, 2000.pp 313-320. • [3] Ahmad, S.M., M.H. Chipperfield, A.J and Tokhi, M.O., “Dynamic modelling and optimal control of a twin rotor MIMO system”, IEEE National Aerospace and Electronics Conference, 2000.pp 391-398 • [4] Lu, T.W. , Wen , P. ,”Decoupling control of twin rotor MIMO system using robust deadbeat control technique” , IET Control Theory Appl. , April 2008, Volume 2, Number 11, .pp 999-1007. • [5] B. Kada, Y. Ghazzawi, “Robust PID Controller Design for an UAV Flight Control System” Proceedings of the World Congress on Engineering and Computer Science 2011 Vol II, WCECS 2011, October 19-21, 2011, San Francisco, USA.