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This volume gathers the latest fundamental research contributions, innovations, and applications in the field of design and analysis of complex robotic mechanical systems, machines, and mechanisms, as presented by leading international researchers at the 2nd USCToMM Symposium on Mechanical Systems and Robotics (USCToMM MSR), held in Rapid City, South Dakota, USA on May 19-21, 2022. It covers highly diverse topics, including soft, wearable and origami robotic systems; applications to walking, flying, climbing, underground, swimming and space systems; human rehabilitation and performance augmentation; design and analysis of mechanisms and machines; human-robot collaborative systems; service robotics; mechanical systems and robotics education; and the commercialization of mechanical systems and robotics. The contributions, which were selected by means of a rigorous international peer-review process, highlight numerous exciting and impactful research results that will inspire novel research directions and foster multidisciplinary research collaborations among researchers from around the globe.
This book introduces and develops the mathematical models used to describe crane dynamics, and explores established and emerging control methods employed for industrial cranes. It opens with a general introduction to the design and structure of various crane types including gantry cranes, rotary cranes, and mobile cranes currently being used for material handling processes. Mathematical models describing their dynamics for control purposes are developed via two different modeling approaches: lumped-mass and distributed parameter models. Control strategies applicable to real industrial problems are then discussed, including open-loop control, feedback control, boundary control, and hybrid control strategies. Finally, based on the methods covered in the book, future research directions are proposed for the advancement of crane technologies. This book can be used by graduate students, engineers, and researchers in the material handling industry including those working in warehouses, manufacturing, construction sites, ship building, seaports, container terminals, nuclear power plants, and in offshore engineering.
Real-time model predictive controller (MPC) implementation in active vibration control (AVC) is often rendered difficult by fast sampling speeds and extensive actuator-deformation asymmetry. If the control of lightly damped mechanical structures is assumed, the region of attraction containing the set of allowable initial conditions requires a large prediction horizon, making the already computationally demanding on-line process even more complex. Model Predictive Vibration Control provides insight into the predictive control of lightly damped vibrating structures by exploring computationally efficient algorithms which are capable of low frequency vibration control with guaranteed stability and constraint feasibility. In addition to a theoretical primer on active vibration damping and model predictive control, Model Predictive Vibration Control provides a guide through the necessary steps in understanding the founding ideas of predictive control applied in AVC such as: · the implementation of computationally efficient algorithms · control strategies in simulation and experiment and · typical hardware requirements for piezoceramics actuated smart structures. The use of a simple laboratory model and inclusion of over 170 illustrations provides readers with clear and methodical explanations, making Model Predictive Vibration Control the ideal support material for graduates, researchers and industrial practitioners with an interest in efficient predictive control to be utilized in active vibration attenuation.