The Experts below are selected from a list of 27720 Experts worldwide ranked by ideXlab platform
Jouni Mattila - One of the best experts on this subject based on the ideXlab platform.
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high performance nonlinear motion force controller design for redundant Hydraulic Construction crane automation
Automation in Construction, 2015Co-Authors: Janne Koivumäki, Jouni MattilaAbstract:Abstract In this paper, a stability-guaranteed Cartesian free-space motion control for the redundant articulated Hydraulic Construction crane is addressed in order to increase system safety and productivity. To cope with the nonlinearities of coupled mechanical linkage dynamics of articulated systems and the inherently strong nonlinearities of Hydraulic actuator dynamics, the proposed controller is designed based on the recently introduced Virtual Decomposition Control (VDC) approach. The VDC approach, which was developed especially for the control of complex robotic systems, allows the conversion of the control problem of the entire system to a control problem of individual subsystems, while rigorously guaranteeing the stability of the entire Hydraulic system. In the experiments it is demonstrated that, the proposed controller is able to extensively cope with the highly nonlinear nature of the articulated Hydraulic system, and an improved control performance is achieved compared to the current state-of-the-art studies in the category of the Hydraulic robot manipulators.
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High performance nonlinear motion/force controller design for redundant Hydraulic Construction crane automation
Automation in Construction, 2015Co-Authors: Janne Koivumäki, Jouni MattilaAbstract:Abstract In this paper, a stability-guaranteed Cartesian free-space motion control for the redundant articulated Hydraulic Construction crane is addressed in order to increase system safety and productivity. To cope with the nonlinearities of coupled mechanical linkage dynamics of articulated systems and the inherently strong nonlinearities of Hydraulic actuator dynamics, the proposed controller is designed based on the recently introduced Virtual Decomposition Control (VDC) approach. The VDC approach, which was developed especially for the control of complex robotic systems, allows the conversion of the control problem of the entire system to a control problem of individual subsystems, while rigorously guaranteeing the stability of the entire Hydraulic system. In the experiments it is demonstrated that, the proposed controller is able to extensively cope with the highly nonlinear nature of the articulated Hydraulic system, and an improved control performance is achieved compared to the current state-of-the-art studies in the category of the Hydraulic robot manipulators.
Ning Chien - One of the best experts on this subject based on the ideXlab platform.
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mechanics of sediment transport
1999Co-Authors: Ning ChienAbstract:Comprehensive coverage of the phenomena of sediment movement - from the origin and formation of sediment to its properties in pipelines. Nearly 40 years of theoretical development and practical experience has been incorporated in this book, which has won numerous awards as a scientific and technical publication in China. Now updated and fully translated into English, this volume is the first attempt in the field to unify the movement of sediment and boundary conditions. Going far beyond any book of its kind, it presents a synthetic analysis and thorough coverage of many schools of thought and provides practical survey of this discipline of the science. The authors introduce a synthesis of information gleaned from more than 800 papers spanning the fields of Hydraulic engineering, mathematics, physics, geology, rheology and chemistry, giving the reader a profound understanding of the present status and direction of the industry's research efforts. The volume includes chapters dedicated to rate phenomena and topics such as hyperconcentrated flows, effect of sediment existence on water flow, large-scale Hydraulic Construction on sediment-laden streams, and specialized research not available outside of China.
Janne Koivumäki - One of the best experts on this subject based on the ideXlab platform.
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high performance nonlinear motion force controller design for redundant Hydraulic Construction crane automation
Automation in Construction, 2015Co-Authors: Janne Koivumäki, Jouni MattilaAbstract:Abstract In this paper, a stability-guaranteed Cartesian free-space motion control for the redundant articulated Hydraulic Construction crane is addressed in order to increase system safety and productivity. To cope with the nonlinearities of coupled mechanical linkage dynamics of articulated systems and the inherently strong nonlinearities of Hydraulic actuator dynamics, the proposed controller is designed based on the recently introduced Virtual Decomposition Control (VDC) approach. The VDC approach, which was developed especially for the control of complex robotic systems, allows the conversion of the control problem of the entire system to a control problem of individual subsystems, while rigorously guaranteeing the stability of the entire Hydraulic system. In the experiments it is demonstrated that, the proposed controller is able to extensively cope with the highly nonlinear nature of the articulated Hydraulic system, and an improved control performance is achieved compared to the current state-of-the-art studies in the category of the Hydraulic robot manipulators.
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High performance nonlinear motion/force controller design for redundant Hydraulic Construction crane automation
Automation in Construction, 2015Co-Authors: Janne Koivumäki, Jouni MattilaAbstract:Abstract In this paper, a stability-guaranteed Cartesian free-space motion control for the redundant articulated Hydraulic Construction crane is addressed in order to increase system safety and productivity. To cope with the nonlinearities of coupled mechanical linkage dynamics of articulated systems and the inherently strong nonlinearities of Hydraulic actuator dynamics, the proposed controller is designed based on the recently introduced Virtual Decomposition Control (VDC) approach. The VDC approach, which was developed especially for the control of complex robotic systems, allows the conversion of the control problem of the entire system to a control problem of individual subsystems, while rigorously guaranteeing the stability of the entire Hydraulic system. In the experiments it is demonstrated that, the proposed controller is able to extensively cope with the highly nonlinear nature of the articulated Hydraulic system, and an improved control performance is achieved compared to the current state-of-the-art studies in the category of the Hydraulic robot manipulators.
Guo Chunyu - One of the best experts on this subject based on the ideXlab platform.
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Seepage Treatment in Hydraulic Construction
2012Co-Authors: Guo ChunyuAbstract:Anti-seepage plays a key role in Hydraulic Construction.The paper analyzes the causes of the seepage and introduces some basic anti-seepage technologies,plugging and concrete Construction in winter.
Dmitry Kozlov - One of the best experts on this subject based on the ideXlab platform.
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Water security and the tasks of Hydraulic Construction in Russia
IOP Conference Series: Materials Science and Engineering, 2018Co-Authors: Dmitry KozlovAbstract:Along with the main challenge – geopolitical risks, from the point of impact there were included social and environmental risks determined by the water factor including scarcity of water resources and problems of adaptation to the climate change. Determination and assessment of water security at the national level are very urgent. The analytical survey and theoretical analysis was based on the generalization of the results of previous studies, the data from official reports of the Rosvodresources and Rostekhnadzor, as well as the information of the Russian register of Hydraulic structures. The analysis of security levels of the existing Russian Hydraulic structures performed using the official data showed that 47 % complexes of their total number have a normal security level and a little more than 3% of the waterworks have a dangerous level. The main tasks of Hydraulic engineering Construction, the solution of which, along with other measures will ensure the water security of the country, are: Construction, reConstruction and repair of engineering protection facilities, Hydraulic structures and reservoirs with the creation of additional regulatory capacities and increased water availability in regions with water scarcity; implementation of comprehensive measures to prevent the negative impact of water.
