This paper presents a design method of controller reducing the vibration of the upper body of a legged vehicle during locomotion. To design locomotion pattern generator, instead of using non-linear dynamics models and solving complex equations, the control strategy is simply based on the use of piecewise linear oscillators and a few parameters that can be easily obtained and tuned. In this research framework, we present tuning algorithms of both the rolling profile and the feedback controllers gains such that the mechanical vibration in the legged vehicle during locomotion is attenuated. As a result, stable and smooth locomotion is obtained. The effectiveness of the proposed method is demonstrated by experimental results.
A guide to successful installations
A successful Pumps & Controls installation begins with sound project design, well executed installation, and a thorough start-up procedure. EPG includes an Installation Guide, Installation Record Form, and Start-Up Checklist in every O&M to help achieve this. Not only are these documents a useful resource during the design stage, they can be used as part of a "flight check" process at installation and start-up. The following are some best practices we highly recommend to encourage trouble-free landfill...
Selecting Fire and Gas Detectors for Harsh and Remote Locations
Selecting fire and gas detectors for harsh and remote locations: Liquid natural gas (LNG) facilities in the frozen Russian Arctic. Drilling platforms in the swells of the North Sea. Pipelines that cross miles of heaving permafrost or blowing desert sands. These are some of the settings where industrial fire and gas detectors encounter extreme conditions and yet must perform accurately and dependably. Start with high-risk processes, add combustible or toxic liquids and gases, and then place these hazards in...
Concrete Construction Health Effects
It’s no secret that working in Concrete Construction is dangerous. The immediate safety hazards are well known. Getting speared or cut on rebar, sore from the hard physical labor; cuts or punctures from nails; and struck by tools, materials or equipment can all cause injuries. Add to that possible falls especially at the leading edge; cuts or shock from powered equipment; burns or explosion from heating equipment; carbon monoxide from poorly maintained/ventilated equipment; outdoor heat or cold; and the...
New Cascadia: Game changers & Joshua trees
Close your eyes and try to imagine the most inhospitable landscape you can. It’s arid, with little or no vegetation. The trees and shrubs that do grow are small and often prickly. It’s boiling hot during the day and can drop well below freezing at night, yet there is no shelter from the elements. And imagine you are sitting in a new Cascadia. On the rare occasion of rainfall, flash flooding rips through the landscape and then promptly disappears back into the sandy soil. Leaving it as dry and...
The vibration monitoring evolution
A recent report from Markets & Markets estimated that demand for vibration monitoring systems will reach nearly $1.5 billion by 2020. That’s a staggering increase of around 50% compared with today – with a compound annual growth rate (CAGR) of more than 6.5%. Is this growth a big surprise though? As a company that has seen first hand the rapid evolution of the vibration monitoring market in recent years, we think not – and here’s why. Industry has woken up to the benefits of...