Kinematic Modeling and Stable Control Law Designing for Four Mecanum Wheeled Mobile Robot Platform Based on Lyapunov Stability Criterion
Issue:
Volume 8, Issue 5, October 2023
Pages:
83-89
Received:
28 July 2023
Accepted:
22 August 2023
Published:
8 September 2023
Abstract: Transportation in warehouses and production workshops is a matter of urgency today. Most warehouses arrange routes for circulation along the shelves, transportation vehicles will move on this road to perform the task of exporting or importing goods. Routes will be arranged to move in one direction because vehicles do not have enough space to turn around in cramped warehouses. This causes many difficulties in planning the trajectory for transportation vehicles, especially self-propelled vehicles. In order to have an appropriate transportation plan, it is necessary to solve many problems, including: reasonable transport equipment, sufficient number of devices, optimal route layout, algorithm of operation center for Positioning and Navigation of transportation equipment, This study proposes a method for transportation using an omnidirectional automated guided vehicle (AGV). The AGV's omnidirectional mobility is supported by the mecanum wheels, so vehicles can move in multiple directions on the road without turning, even at a junction or an intersection. This study consists of two parts, the first part focuses on kinematic modeling for mecanum wheels and extends to robot’s platform using four mecanum wheels. Part two proposes a diagram to calculate the errors of the robot compared to a reference tracking line, design a control law based on the Lyapunov stability criterion. The stability of the control law is verified and confirmed by simulation on Matlab environment.
Abstract: Transportation in warehouses and production workshops is a matter of urgency today. Most warehouses arrange routes for circulation along the shelves, transportation vehicles will move on this road to perform the task of exporting or importing goods. Routes will be arranged to move in one direction because vehicles do not have enough space to turn a...
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Research Article
Numerical Investigation of Seismic Performance of Reinforced Concrete Frame Strengthened With CFRP
Issue:
Volume 8, Issue 5, October 2023
Pages:
90-111
Received:
21 September 2023
Accepted:
28 October 2023
Published:
22 December 2023
Abstract: Reinforced concrete (RC) structure performance behavior investigation is important in order to produce structural systems having stiffness, strength, deformation capacity required to withstand seismic loading with acceptable performance. Number of studies conducted to investigate the performance of structural RC frame members such as beams, columns, beam-column joints under seismic loading, primarily using experimental methods. The main aim of this thesis is to investigate numerically the performance of RC portal frame strengthened with 0%, 10%, 15%, 20%, 25% and 30% of total length of RC frames with carbon fiber reinforced polymer (CFRP) under seismic loading in displacement control. In the first scheme of this study finite element model for six RC portal frames strengthened with different percentages of CFRP have been developed by using finite element software called ABAQUS and those RC portal frames with identical dimension of beam and columns of cross section of 300x350mm and column is 1365mm in height and beam of 2350mm length has been simulated under seismic loads up to 3% drift ratio in displacement control. In the second schemes of this study finite element model for three RC portal frames (one as base lines and two were strengthened with CFRP sheets) subjected to lateral cyclic load and gravity loads on beam critical zones. Nonlinear finite element analysis with damaged plasticity model for concrete and orthographic elastic properties for CFRP in ABAQUS/standard is adapted to simulate RC portal frames. The accuracy of the nonlinear finite element models has been verified using the experiment results conducted on beam-column joints by other researchers. The Finite Element Analysis (FEA) results showed that strengthening the RC portal frame with the 10%, 15%, 20%, 25% and 30% of CFRP increased the dissipation energy capacity by 2.39%, 4.1%, 5.95%, 7.04% and 7.39% respectively. Results also showed that strengthening with CFRP results in fewer cracks, less degradation of strength after yielding than bare RC frame and decrease in stiffness degradation.
Abstract: Reinforced concrete (RC) structure performance behavior investigation is important in order to produce structural systems having stiffness, strength, deformation capacity required to withstand seismic loading with acceptable performance. Number of studies conducted to investigate the performance of structural RC frame members such as beams, columns...
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