PPT-Oscillation damping system for a ball-shaped robot

José Joaquín Alcaina Acosta José Luis Racero Robles Goal of the project work Control an oscillation dampingsystem of a spherical robot Control the ball measuring. Kang. Team Korea. Levitation. Problem . #. 5. Phenomenon. Investigate the effect. Oscillation. Produce the maximum angle of tilt. Force Analysis.  .  .  .  .  .  .  . Bernoulli. Coanda.  . Flow Chart. Damping . ?. Damping. . is a dissipation . of. . energy from a vibrating structure. .. The . term dissipate is used to . mean. . the transformation of . mechanical. . energy into other form of energy and, therefore, a removal . Sec. . 4.6b. Exploration 1: Investigating Sinusoids. Graph these functions, one at a time, in the viewing window. . Which ones appear to be sinusoids?. Only these functions appear to be sinusoids!!!. Aldebaran. . Nao. humanoid Robots*. *This research is supported by NSF Grant No. CNS 1005212. Opinions,. findings, conclusions, or recommendations expressed in this paper are. those of the author(s) and do not necessarily reflect the views of NSF.. Reviewed by . Fei. Chen. Background. Autonomous oscillations in gene expression are found in metabolic, cardiac, and neuronal systems.. Such oscillators have important biological roles, as well as very interesting dynamics.. Equation of motion. resistance force is proportional to speed : . For convenience: . Also,. . k=m. w. 0. 2. Trial solution . Underdamped. Two solutions with . The real solution . of equation of motion . 1. Forced oscillator with damping. . resistance force is proportional to speed : . Equation of motion. 2. In ‘complex’ method. For convenience: . Also,. . k=m. w. 0. 2. 3. Solution of damped harmonic motion. Engineering: B.4, pages 582-588. Free Vibration. A mass is free to oscillate. No external forces acting on the mass. Amplitude, frequency, period…all constant. Natural Frequency (. f. 0. ). The frequency of the free vibrations of a system. Motors, transmissions, linkages, & springs. Robot vital statistics. 1.5 m height. 0.8 m leg length. 15 kg legged locomotion platform, . 30 kg max. body mass. Low-mass lower legs for rapid swing. Two (plus rotation?) hip degrees of freedom. . is a dissipation . of. . energy from a vibrating structure. .. The . term dissipate is used to . mean. . the transformation of . mechanical. . energy into other form of energy and, therefore, a removal . Describe . examples of damped oscillations.. . Need to know. - It is sufficient for students to know that damping involves a force that is always in the opposite direction to the direction of motion of the oscillating particle and that the force is a dissipative force.. Lawrence Technological University. Instructor:. Assistants:. 2015 . Robofest. competition . RoboGolf. SPbot. introduction. Using the . SPbot. to solve the . RoboGolf. challenge. Course Overview. 2. J WU, T Koettig, P Janickova, L . Zwalinski. Oscillation of the pump discharge pressure. Pressure [Bar]. At certain low discharge pressure of the pump, there is no oscillation. With increase of the pressure, the oscillation starts. The frequency of the oscillation is about . M. Veloso, E. Pagello, and H. Kitano (Eds.): RoboCup-99, LNAI 1856, pp. 679­682, 2000.Ó Springer-Verlag Berlin Heidelberg 2000 2 Team DescriptionThe system that implements micro-robot soccer is made