This paper presents a dynamic locomotion generation for a one-legged floating-base robot. Reference synthesis is performed by planning both swing motion of the foot and contact forces acting from the ground. A fifth-order polynomial is employed as the position reference to reduce the impact forces and ensure a steady transition between the swing and stance phases. Contact force references are designed utilizing the laws of linear and angular momentum conservation. A hybrid forcemotion control framework is created in operational space for tracking generated references. Gait phase transition is proposed to assist the transition between the force and motion controller. A full-dynamics simulation environment is utilized to test the proposed control framework. Results supported the competence of the proposed control framework for the floating-base onelegged robot.
An important engineering challenge is the design of a wind turbine’s pitch angle controller. The dependability, safety, and power output maximization of a wind turbine are all impacted by this controller. In this study, a 2 MW doubly fed induction generator wind turbine’s blade angle controller design with a novel fuzzy logic controller is tested in a simulated environment. The evolutionary algorithm technique is used to optimize the fuzzy logic controller with three inputs. A genetic algorithm is used to optimize the specified pitch angle controller for a number of coefficients. After the optimization process, the controller’s performance is assessed in terms of power output, overshoot, and steady-state error characteristics.
Electromagnetically actuated microflows are generated by using ferromagnetic nanofluids containing Fe2O3 based nanoparticles. Because of their magnetic properties these nanoparticles are able to response to a magnetic field imposed along a microchannel so that a microflow could be driven. Nanofluid samples were located inside a minichannel and were directed with a magnetic field, which was induced by a solenoid wrapped around the minichannel, to drive the flow inside the minichannel, where its flow rate was also recorded. The flow rate was measured as a function of the imposed magnetic field. The corresponding pressure drop to deliver the same flow rate with an ordinary pump along the same minichannel was estimated so that the potential of this system for acting as a micropump in microfluidic applications was revealed.
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