Artículos de revistas: "Pendulum movement"

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Soans, Crystal Runa, Ashutosh Shetty, Murali P.S, Azhar Mohammed, U. S. Krishna Nayak y Keerthan Shashidhar. "Comparative Distalization Effects Of Conventional Pendulum Appliance And Bone Anchored Pendulum Appliance". Journal of Health and Allied Sciences NU 08, n.º 01 (marzo de 2018): 03–010. http://dx.doi.org/10.1055/s-0040-1708737.

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Abstract Introduction: The introduction of intraosseous screws as temporary orthodontic anchorage devices has proved successful in achieving sufficient molar distalization without major anchorage loss in Class II malocclusions. Bone-anchored pendulum appliance is used to obtain an effective and compliance-free molar distalization without anchorage loss. Aims And Objectives: This prospective study was designed to evaluate and compare the skeletal and dentoalveolar effects produced by 2 types of pendulum appliance with different anchorage modalities - the Bone anchored pendulum appliance (BAPA) and Conventional pendulum appliance (CPA) in subjects with Angle's ClassII malocclusion. Materials and Methods: BAPA group consisted of 5 patients with mean age, 16.4±1.5 years. The CPA group consisted of 5 patients with mean age, 16.6±1.1 years. Lateral cephalograms & dental casts were obtained at pre-treatment stage & after achieving Class I molar relation. Dentoalveolar, skeletal, soft tissue measurements and dental cast measurement were recorded & compared between the groups. Results and Conclusions: Successful distalization was achieved in both groups in a mean period of 6.2 months for BAPA and 5.2 months for CPA. It was concluded that, both theBAPA and CPA were effective for the distalization of maxillary molars. Though the distal molar movements obtained were similar between the BAPA and the CPA groups, anchorage loss was observed with the CPA in the form of premolar mesialization & incisor proclination, whereas absence of anchorage loss, significant spontaneous distal premolar movement, and distal incisor movement was observed with the BAPA, making it a viable choice compared to the CPA.

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Bendersky, S. y B. Sandler. "Investigation of a spatial double pendulum: an engineering approach". Discrete Dynamics in Nature and Society 2006 (2006): 1–22. http://dx.doi.org/10.1155/ddns/2006/25193.

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The behavior of a spatial double pendulum (SDP), comprising two pendulums that swing in different planes, was investigated. Movement equations (i.e., mathematical model) were derived for this SDP, and oscillations of the system were computed and compared with experimental results. Matlab computer programs were used for solving the nonlinear differential equations by the Runge-Kutta method. Fourier transformation was used to obtain the frequency spectra for analyses of the oscillations of the two pendulums. Solutions for free oscillations of the pendulums and graphic descriptions of changes in the frequency spectra were used for the dynamic investigation of the pendulums for different initial conditions of motion. The value of the friction constant was estimated experimentally and incorporated into the equations of motion of the pendulums. This step facilitated the comparison between the computed and measured oscillations.

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Del Río-Cidoncha, Gloria, José Ignacio Rojas-Sola y Francisco Javier González-Cabanes. "Computer-Aided Design and Kinematic Simulation of Huygens’s Pendulum Clock". Applied Sciences 10, n.º 2 (10 de enero de 2020): 538. http://dx.doi.org/10.3390/app10020538.

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This article presents both the three-dimensional modelling of the isochronous pendulum clock and the simulation of its movement, as designed by the Dutch physicist, mathematician, and astronomer Christiaan Huygens, and published in 1673. This invention was chosen for this research not only due to the major technological advance that it represented as the first reliable meter of time, but also for its historical interest, since this timepiece embodied the theory of pendular movement enunciated by Huygens, which remains in force today. This 3D modelling is based on the information provided in the only plan of assembly found as an illustration in the book Horologium Oscillatorium, whereby each of its pieces has been sized and modelled, its final assembly has been carried out, and its operation has been correctly verified by means of CATIA V5 software. Likewise, the kinematic simulation of the pendulum has been carried out, following the approximation of the string by a simple chain of seven links as a composite pendulum. The results have demonstrated the exactitude of the clock.

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Levkova, E. A., S. Z. Savin y N. E. Kosykh. "Studies of depressive spectrum disorders caused by sleep deprivation in conditions of chronic desynchronosis (analytical review)". Terapevt (General Physician), n.º 12 (17 de diciembre de 2020): 50–55. http://dx.doi.org/10.33920/med-12-2012-06.

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This review examines fundamental approaches to studying the phenomena of pendulum-like chronic desynchronosis in conditions of multi-latitude movement without adaptation in extreme time zones. The article analyzes works on psychophysiological and chronobiological aspects of depressive disorders in the regime of multi-latitude pendulum-like movements in conditions of impossibility of biorhythmological adaptation at the limiting points of the flight. Effective proposals of means and measures for elimination of psychosomatic consequences of chronic desynchronosis and compensation of depressive spectrum disorders are presented.

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5

Kumagai, Masaaki y Takaya Ochiai. "Development of a Robot Balanced on a Ball - First Report, Implementation of the Robot and Basic Control -". Journal of Robotics and Mechatronics 22, n.º 3 (20 de junio de 2010): 348–55. http://dx.doi.org/10.20965/jrm.2010.p0348.

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This paper proposes the implementation and control scheme of a robot balanced on a ball. Unlike a twowheeled inverted pendulum, such as the Segway Human Transporter, an inverted pendulum using a ball moves in any direction without changing orientation, enabling isotropic movement and stabilization. The robot on the ball can be used in place of the twowheeled robots. Our robot has three omnidirectional wheels with stepping motors that drive the ball and two sets of rate gyroscopes and accelerometers as attitude sensors. It can keep station, traverse in any direction, and turn around its vertical axis. Inverted pendulum control is applied to two axes to maintain attitude. Ball acceleration is used as control input of the system, unlike most of inverted pendulums which use torque or force as input. This acceleration input makes the robot robust against change of inertia parameters, as confirmed by Nyquist diagrams. The mechanism of the robot, the control method, and the experimental results are described in this paper.

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6

Saigo, M., N. Tanaka y K. Tani. "An Approach to Vibration Control of Multiple-Pendulum System by Wave Absorption". Journal of Vibration and Acoustics 120, n.º 2 (1 de abril de 1998): 524–33. http://dx.doi.org/10.1115/1.2893861.

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In this paper, a new wave-absorbing strategy has been studied to suppress the vibration of a multiple-pendulum system by controlling the lateral movement of the support. The wave-absorbing condition is derived from the difference between the equation of motion of the boundary pendulum and that of an inner pendulum. An online real-time simulation method using the numerical solution is proposed to control the movement that satisfies the wave-absorbing condition. According to this method, vibration of a multiple-pendulum system with arbitrary degrees of freedom can be controlled by measuring only the deflection angle of the uppermost pendulum adjacent to the support if the dimensions of the uppermost pendulum and the total mass of the system are known. Both the numerical simulations and the experiments have confirmed the effectiveness of this method. The basic idea of this control method can easily be applied to any discrete vibrating system whose equations of motion have no traveling-wave solution.

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7

Teixeira, Julio Carlos, Pâmella Gonçalves Martins, Amanda Schwartzmann y Jeroen Schoenmaker. "The Gauss pendulum". Emergent Scientist 5 (2021): 3. http://dx.doi.org/10.1051/emsci/2021002.

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Recently, the Gauss rifle has gained attention as an interesting problem for physics and engineering education. In this manuscript we propose and analyze a novel problem that, while being related to the Gauss rifle, is rather simpler: the Gauss pendulum, which yields more consistent results and allows further agreement between model, simulation and experimental data. The Gauss pendulum, unlike the rifle, does not involve rotational movement of balls and the difference between the initial and final energy state of the system can be easily accessed by measuring the final height of the swinging projected ball. An extensive assessment of a Gauss pendulum has been developed using free software and accessible laboratory equipment. Focusing on the validation of the magnetic potential well model to understand the gain in kinetic energy, it was possible to obtain a remarkable agreement between the experimental and theoretically simulated data.

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8

Qian, Qingwen, Junfeng Wu y Zhe Wang. "Dynamic balance control of two-wheeled self-balancing pendulum robot based on adaptive machine learning". International Journal of Wavelets, Multiresolution and Information Processing 18, n.º 01 (29 de marzo de 2019): 1941002. http://dx.doi.org/10.1142/s0219691319410029.

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To solve the problem of balance control in dynamic movement of two-wheeled self-balancing pendulum robot, a dynamic balance control method based on adaptive machine learning is proposed based on theoretical analysis of the cause of balance. Firstly, a kinematics model of two-wheeled self-balancing pendulum robot is established. Through numerical calculation and analysis, the root cause for dynamic balance of two-wheeled self-balancing pendulum robot is obtained. On this base, adaptive machine learnings are proposed to control the dynamic balance of two-wheeled self-balancing pendulum robot. The possible lateral movement of robot caused by dynamic balance control is analyzed. Finally, balance simulation test is conducted, which shows that the robot can easily lose balance and overturn without adaptive machine learning. The comparison of simulation test has verified that the proposed dynamic balance control method can effectively control the dynamic balance of two-wheeled self-balancing pendulum robot.

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9

Sen, Muhammed Arif y Mete Kalyoncu. "Optimisation of a PID Controller for an Inverted Pendulum Using the Bees Algorithm". Applied Mechanics and Materials 789-790 (septiembre de 2015): 1039–44. http://dx.doi.org/10.4028/www.scientific.net/amm.789-790.1039.

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The inverted pendulum system is a challenging control problem in the control theory, which continually moves away from a stable state. The paper presents the design of a Proportional-Integral-Derivative (PID) controller for a single-input multi-output (SIMO) inverted pendulum system and using the Bees Algorithm (BA) to obtain optimal gains for PID controllers. The Bees Algorithm optimizes the gains so that the controller can move the cart to a desired position with the minimum amount of the change in the pendulum’s angle from the vertically upright position during the movement. The tuning aim is to minimize the control responses of the cart’s position and the pendulum’s angle in time domain. MATLAB/Simulink simulation has been performed to demonstrate that the effects on the system performance of PID controllers with optimal gains. The obtained results show that the tuning method by using the Bees Algorithm produced PID controllers successfully within the controller design criteria. Following a description of the inverted pendulum system and the Bees Algorithm, the paper gives the obtained simulation results for the system demonstrating the efficiency of the design.

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10

Lisowski, Bartłomiej, Clement Retiere, José Pablo Garcia Moreno y Paweł Olejnik. "Semiempirical identification of nonlinear dynamics of a two-degree-of-freedom real torsion pendulum with a nonuniform planar stick–slip friction and elastic barriers". Nonlinear Dynamics 100, n.º 4 (15 de mayo de 2020): 3215–34. http://dx.doi.org/10.1007/s11071-020-05684-6.

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Abstract The purpose of this study is to identify the nonlinear dynamics of the double torsion pendulum with planar friction and elastic barriers. The original experimental stand consists of a disk-shaped body that rotates freely on top of a forced column with a system of barriers limiting the torsional vibrations of the pendulum bodies that create an nonuniform planar rotational friction contact. Two beam springs form soft barriers modeled by Voigt elements that limit the angular displacement of one of the pendulum bodies—the disk, while the second limiting system, made of a much more rigid barrier, limits the movement of the pendulum’s second body. The dynamic behavior of the asymmetrical system of two degrees of freedom with discontinuities is identified with the use of the described strategy, numerical solutions of the derived mathematical model and the Nelder–Mead simplex algorithm. The actual measurement series and numerical solutions show a good similarity of the dynamical reaction of the mechanical system and its virtual analog.

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11

Obeso, Jose A. "Editor's note: Functional movement disorders: The pendulum keeps moving". Movement Disorders 34, n.º 7 (julio de 2019): 970. http://dx.doi.org/10.1002/mds.27784.

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12

Tsubouchi, Otsushiro y Yoshihiko Takahashi. "Seat Movement Type Inverse Pendulum Control Wheel Chair Robot". Proceedings of Conference of Kanto Branch 2002.8 (2002): 377–78. http://dx.doi.org/10.1299/jsmekanto.2002.8.377.

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13

NOZAWA, Mutsuko, Teppei ARAI, Katsumasa TANAKA y Kazuhiro SUDA. "A35 Comparison between physical pendulum and human putting movement". Proceedings of Joint Symposium: Symposium on Sports Engineering, Symposium on Human Dynamics 2006 (2006): 181–85. http://dx.doi.org/10.1299/jsmesports.2006.0_181.

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14

Kayumov, O. R. "Time-Optimal Movement of a Trolley with a Pendulum". Journal of Computer and Systems Sciences International 60, n.º 1 (enero de 2021): 28–38. http://dx.doi.org/10.1134/s106423072101007x.

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15

Chen, Ji Yan, Zhi Sheng Wang y Guo Hua Cao. "The Structure Design of Pendulum Impact Testing Machine for Automobile Steering Device". Advanced Materials Research 850-851 (diciembre de 2013): 312–16. http://dx.doi.org/10.4028/www.scientific.net/amr.850-851.312.

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The paper developed a pendulum impact testing machine. The impact testing machine is mainly used for dynamic mechanical properties testing and anti-destructive testing for the steering assembly. The mechanical system of testing machine adopts the impact type of pendulum acceleration of gravity. It adopts optical-electricity encoder to control the pendulum angle of oscillation. The movement of the pendulum is controlled by gear reducer motor and clutch. The curve of the impact force changing along with the time is half-sine wave during the whole process.

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16

Pena Cabra, Oscar David y Takashi Watanabe. "Experimental Evaluation of Balance Prediction Models for Sit-to-Stand Movement in the Sagittal Plane". Computational and Mathematical Methods in Medicine 2013 (2013): 1–9. http://dx.doi.org/10.1155/2013/592328.

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Evaluation of balance control ability would become important in the rehabilitation training. In this paper, in order to make clear usefulness and limitation of a traditional simple inverted pendulum model in balance prediction in sit-to-stand movements, the traditional simple model was compared to an inertia (rotational radius) variable inverted pendulum model including multiple-joint influence in the balance predictions. The predictions were tested upon experimentation with six healthy subjects. The evaluation showed that the multiple-joint influence model is more accurate in predicting balance under demanding sit-to-stand conditions. On the other hand, the evaluation also showed that the traditionally used simple inverted pendulum model is still reliable in predicting balance during sit-to-stand movement under non-demanding (normal) condition. Especially, the simple model was shown to be effective for sit-to-stand movements with low center of mass velocity at the seat-off. Moreover, almost all trajectories under the normal condition seemed to follow the same control strategy, in which the subjects used extra energy than the minimum one necessary for standing up. This suggests that the safety considerations come first than the energy efficiency considerations during a sit to stand, since the most energy efficient trajectory is close to the backward fall boundary.

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17

Fowler, Neil E. y Adrian Lees. "A Comparison of the Kinetic and Kinematic Characteristics of Plyometric Drop-Jump and Pendulum Exercises". Journal of Applied Biomechanics 14, n.º 3 (agosto de 1998): 260–75. http://dx.doi.org/10.1123/jab.14.3.260.

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The aim of this study was to compare the kinetic and kinematic characteristics of plyometric drop-jump and pendulum exercises. Exercises were filmed (100 Hz) from the sagittal view and manually digitized; the data were smoothed and differentiated using cross-validated quintic splines. Ground reaction force data were sampled using a Kistler force platform sampling at 500 Hz. Differences between movement amplitudes and coordination strategies were assessed usingttests and conjugate cross-correlations. Pendulum exercises involved a greater range of motion at the ankle and knee but less motion at the hip joint than drop-jumps. Although different in absolute terms, the exercises used a similar coordination strategy. Drop-jumps resulted in greater peak vertical ground reaction forces than the pendulum exercises although the latter involved a greater net impulse. The similarity between the movement patterns for the two modes of exercise led to the conclusion that pendulum exercises offer a training stimulus similar to that of drop-jumps.

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18

Wilson, Daniel J., Bryan K. Smith, J. Kyle Gibson, Byung K. Choe, Brenda C. Gaba y John T. Voelz. "Accuracy of Digitization Using Automated and Manual Methods". Physical Therapy 79, n.º 6 (1 de junio de 1999): 558–66. http://dx.doi.org/10.1093/ptj/79.6.558.

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Abstract Background and Purpose. Computerized 3-dimensional (3-D) motion measurement systems are used by those interested in human motion. The purposes of this study were (1) to determine the limits of accuracy in determining intersegmental angles during pendular motion at varying speeds and (2) to determine changes in accuracy introduced by autodigitization and digitization by experienced manual raters. Methods. Angular speed of a T-shaped pendulum was systematically increased by releasing the pendulum from 4 angles (0° [no movement], 45°, 90°, and 120°). Twelve reference angles calculated from markers placed on the pendulum were estimated over 20 frames for 10 trials at each release position. Results. Mean errors across trials and frames for intersegmental angles reconstructed by a 3-D motion measurement system were within ±1 degree across all release positions. An analysis of variance and a post hocTukey test revealed that the mean error for the autodigitized trials was larger than that for the manually digitized trials. For the autodigitized trials, the static trials (release position=0°) produced less mean error than the trials with movement produced. The ICCs showed a high degree of consistency among all raters, ranging from .707 to .999. Conclusion and Discussion. Our findings support the conclusion that under carefully controlled conditions, a 3-D motion measurement system can produce clinically acceptable measurements of accuracy across a range of angular speeds. Furthermore, acceptable accuracy is possible regardless of the digitization method.

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Baszczyński, Krzysztof. "Analysis of hazards associated with injuries to the employee’s head during fall arrest". Occupational Safety – Science and Practice 557, n.º 2 (22 de febrero de 2018): 20–23. http://dx.doi.org/10.5604/01.3001.0010.8531.

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A fall from a height is one of the most serious hazards faced by employees in the work environment. It is present mostly at workstations in such industries as construction, power engineering, mining, storage, etc. Using individual protective equipment against falls from a height is a basic method of protecting workers under such conditions. The choice of this method carries specific risks associated with the functioning of equipment during fall arrest. Hitting elements of the workstation during fall arrest associated with pendulum movement is a very serious threat. This paper presents conditions which trigger pendulum movement during fall arrest and the positions which a human equipped with a full body harness can assume then. Potential effects of the impact of the head against an obstacle during pendulum movement are discussed on the basis of the results of research with an anthropomorphic dummy. The article discusses methods of preventing swing movement and ways of mitigating the effects of collisions with obstacles within the workstation. It also presents the basic requirements for protective helmets intended for use with individual protection equipment against falls from a height.

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Singla, Ashish y Gurminder Singh. "Real-Time Swing-up and Stabilization Control of a Cart-Pendulum System with Constrained Cart Movement". International Journal of Nonlinear Sciences and Numerical Simulation 18, n.º 6 (26 de octubre de 2017): 525–39. http://dx.doi.org/10.1515/ijnsns-2017-0040.

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AbstractThe cart-pendulum system is a typical benchmark problem in the control field. It is a fully underactuated system having one control input for two degrees-of-freedom (DOFs) system. It has highly nonlinear structure, which can be used to validate different nonlinear and linear controllers and has wide range of real-time (realistic) applications like rockets propeller, tank missile launcher, self-balancing robot, stabilization of ships, design of earthquake resistant buildings, etc. In this work, modeling, simulation and real-time control of a cart-pendulum system is performed. The mathematical model of the system is developed using Euler-Lagrange approach. In order to achieve a more realistic model, the actuator dynamics is considered in the mathematical model. The main aim of this work is to investigate the performance of two different control strategies- first to swing-up the pendulum to near unstable equilibrium region and second to stabilize the pendulum at unstable equilibrium point. The swing-up problem is addressed by using energy controller in which cart is accelerated by providing a force to the cart with a AC servo motor with the help of timing pulley arrangement. The initial velocity of the cart is taken into account to confirm swing-up in the restricted track length. The cart displacement in the restricted track length is verified by simulation and experimental test-run. The regulation problem of stabilization of pendulum is addressed by developing the controller using Pole Placement Controller (PPC) and LQR Controller (LQRC). Both the control strategies are performed analytically and experimentally using the Googoltech Linear Inverted Pendulum (GLIP) setup. The analytical results, simulated in MATLAB and SIMULINK environment, are found in close agreement with the experimental results. In order to demonstrate the effect of both the stabilizing controllers on the performance of the system, comparison of the experimental results is reported in this work. It is demonstrated experimentally that LQR controller outperforms the Pole Placement controller, in terms of reduction in the oscillations of the inverted pendulum (56 %), as well as the magnitude of maximum control input (66.7 %). Further, robustness of the closed-loop system is investigated by providing external disturbances.

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HATAKEYAMA, Naoya y Akira SHIMADA. "Movement Control of Two-wheeled Inverted Pendulum Robots Considering Robustness". Transactions of the Society of Instrument and Control Engineers 44, n.º 9 (2008): 721–28. http://dx.doi.org/10.9746/ve.sicetr1965.44.721.

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NOZAWA, Mutsuko, Ryo KOYAMA, Tadao ISAKA y Takeo MARUYAMA. "120 Comparison between physical pendulum and golfer in putting movement". Proceedings of the Symposium on sports and human dynamics 2013 (2013): _120–1_—_120–6_. http://dx.doi.org/10.1299/jsmeshd.2013._120-1_.

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OHTA, Ken, Koji UMEGAKI, Koji MUROFUSHI y Zhi Wei LUO. "B-43 Analysis of Hammer Movement Based on Pendulum Model". Proceedings of Joint Symposium: Symposium on Sports Engineering, Symposium on Human Dynamics 2009 (2009): 447–52. http://dx.doi.org/10.1299/jsmesports.2009.0_447.

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SENOO, Kouki y Tadashi EGAMI. "Control of an inverted pendulum electric wheelchair by body movement". Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2019 (2019): 2A2—A09. http://dx.doi.org/10.1299/jsmermd.2019.2a2-a09.

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Kuczmann, Miklós. "Comprehensive Survey of PID Controller Design for the Inverted Pendulum". Acta Technica Jaurinensis 12, n.º 1 (22 de febrero de 2019): 55–81. http://dx.doi.org/10.14513/actatechjaur.v12.n1.492.

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The survey shows the detailed PID controller design how to stabilize the inclination angle as well as the horizontal movement of an inverted pendulum on a cart system step by step. Pendulum model is based on Euler-Lagrange modeling, and the nonlinear state space model is linearized in the unstable upward position. Controller design is performed by applying the transfer function description. The pendulum has been inserted into a virtual reality laboratory, which is suitable to use in model based control teaching.

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Lei, G. H., Y. B. Ai y J. Y. Shi. "The interpretation of pendulum-type inclinometer readings". Canadian Geotechnical Journal 43, n.º 2 (1 de febrero de 2006): 210–16. http://dx.doi.org/10.1139/t05-101.

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The conventional method of inclinometer data analysis computes the displacement components in two mutually orthogonal directions separately by using corresponding readings measured in individual directions. It is shown in this note that calculation errors, although insignificant, are induced when this method is used to interpret data measured by pendulum-type inclinometers, which are widely used as probe inclinometers in engineering practice. The inclinometer readings measured in the two directions are correlative, and they are dependent on both the angle of the inclinometer probe axis inclined to the gravity vertical and on the azimuth angle at which the probe movement direction deviates from one of the two directions. The displacement component in each direction can be interpreted more accurately by simultaneously using the tilt angles in both directions measured directly by the inclinometer probe. Relationships between the actual displacement components, the resultant displacement, the azimuth angle, and the tilt angles are derived and verified by laboratory experiments. A refined calculation procedure is proposed for interpreting the pendulum-type inclinometer readings, and the errors induced in the conventional method are analyzed.Key words: deformation, field instrumentation, ground movements, monitoring.

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HE, SHOULING. "NEURAL ADAPTIVE CONTROL OF NONLINEAR MULTIVARIABLE SYSTEMS WITH APPLICATION TO A CLASS OF INVERTED PENDULUMS". International Journal of Neural Systems 12, n.º 05 (octubre de 2002): 411–24. http://dx.doi.org/10.1142/s0129065702001254.

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In this paper multilayer neural networks (MNNs) are used to control the balancing of a class of inverted pendulums. Unlike normal inverted pendulums, the pendulum discussed here has two degrees of rotational freedom and the base-point moves randomly in three-dimensional space. The goal is to apply control torques to keep the pendulum in a prescribed position in spite of the random movement at the base-point. Since the inclusion of the base-point motion leads to a non-autonomous dynamic system with time-varying parametric excitation, the design of the control system is a challenging task. A feedback control algorithm is proposed that utilizes a set of neural networks to compensate for the effect of the system's nonlinearities. The weight parameters of neural networks updated on-line, according to a learning algorithm that guarantees the Lyapunov stability of the control system. Furthermore, since the base-point movement is considered unmeasurable, a neural inverse model is employed to estimate it from only measured state variables. The estimate is then utilized within the main control algorithm to produce compensating control signals. The examination of the proposed control system, through simulations, demonstrates the promise of the methodology and exhibits positive aspects, which cannot be achieved by the previously developed techniques on the same problem. These aspects include fast, yet well-maintained damped responses with reasonable control torques and no requirement for knowledge of the model or the model parameters. The work presented here can benefit practical problems such as the study of stable locomotion of human upper body and bipedal robots.

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Kot, Andrzej y Agata Nawrocka. "Balance Maintaining by Human". Solid State Phenomena 248 (marzo de 2016): 155–60. http://dx.doi.org/10.4028/www.scientific.net/ssp.248.155.

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Harmonious cooperation of the skeletal, muscular and nervous systems, forming a human motion organ, is responsible for all undertaken movement activities. Motion organ in the illustrated embodiment responsible not only for two basic motion activities, locomotion and manipulation, but also for maintaining the posture of the human body. Standing posture control makes a particular dimension of physical activity, because correct, stable posture determines the ability to perform most human movements. In the case of a man to maintain a balance in a standing position seems to be something obvious and does not require much effort, but with the advent of lesions or aging we begin to see how complex it is the process of balance control. The changes lead to impaired balance control which in turn can lead to the appearance of postural instability and in extreme circumstances, even to collapse. Maintaining a stable posture it is primarily associated with motor control provided by the human nervous system. The nervous system acts as an posture control system and most of all giving to a body well-defined silhouette. This control relies heavily on the integration of information from the human receptor system. Muscle, joint, tendon and skin receptors communicate first to the brain information about the movement and position of individual body parts and then feedback these signals to the muscles, causing reflex reactions allowing for correction of posture and thus return the center of gravity to a position that maintaining equilibrium. Subdivide those human body into segments linked closely with the system osteoarthritis limbs and trunk can create a system of interconnected pendulums with many degrees of freedom. In the case of standing it will be largely complicated inverted pendulums system by which activities phenomena associated with maintaining balance and locomotion can be modeled. If additionally in an upright position, taking into account the natural motion restrictions movements in all joints except the ankles will be blocked, the body will be a close approximation behave like a rigid body. So we can assume that for supporting the human body at the ankle, it will behave like an inverted pendulum. The article presents the ways of describing the equilibrium of man as an inverted pendulum.

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Polat-Ozsoy, Omur, Aylin Gokcelik, Ahu Güngör-Acar y Beyza Hancioglu Kircelli. "Soft Tissue Profile after Distal Molar Movement with a Pendulum K-Loop Appliance Versus Cervical Headgear". Angle Orthodontist 78, n.º 2 (1 de marzo de 2008): 317–23. http://dx.doi.org/10.2319/011107-10.1.

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Abstract Objective: To evaluate the soft tissue changes associated with the pendulum appliance that was supported with a K-loop buccally and to compare these treatment changes with a cervical headgear group. Materials and Methods: The records of 30 patients having skeletal Class I, dental Class II malocclusions were divided to two groups. Group 1 consisted of 7 girls, 8 boys (mean age, 15.0 ± 3.4 years), and Group 2 consisted of 10 girls, 5 boys (mean age 14.2 ± 2.9 years). The first group was treated with a pendulum appliance that was supported with a K-loop buccally, and the second group was treated with cervical headgear. Lateral cephalograms were taken at the beginning of treatment and at the end of distal molar movement. Treatment changes within the groups were analyzed using the paired t-test, and between group changes were analyzed with the independent t-test. Results: The results showed that the pendulum/K-loop appliance had no significant effect on skeletal and dental variables and soft tissue A point, upper lip thickness, and sagittal upper lip position relative to the E plane. A significant difference for the change in Vp-Ls distance was found in patients in the pendulum/K-loop group (P < .05). Patients in the cervical headgear group showed significant retrusion in skeletal, dental, and soft tissue measurements (P < .05). Conclusions: The pendulum/K-loop appliance produces distal molar movement without causing any significant changes in the sagittal or vertical positions of either the jaw or the soft tissue profile.

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30

Ivanova, V. Ya. "Pendulum of time in Valentin Rasputin’s novel "Live and remember" ("Zhivi i pomni")". Russian language at school 82, n.º 2 (19 de marzo de 2021): 36–42. http://dx.doi.org/10.30515/0131-6141-2021-82-2-36-42.

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The study reveals specific ways of expressing the passage of time in the story "Live and Remember" by Valentin Rasputin. The study is aimed at demonstrating how the development of the plot, the dialectic of relationships between memory and oblivion, as well as the fluctuations in the heroes’ memories – all create the image of a pendulum. The applied methodology involved a linguostylistic analysis of the text. The author identifies linguistic means that help the writer to draw images of a pendulum-person and a pendulum-object. Special attention is paid to syntactic constructions of different types used to convey the ambivalence of the characters’ body and mind. The image of a pendulum and the motive of pendulum movement create the feeling of the onward march of time and the oncoming final date.

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31

Sunarchin, Robert A. y Pavel V. Petrov. "SYNCHRONIZATION OF PENDULUMS (NUMERICAL STUDY)". Journal of Dynamics and Vibroacoustics 6, n.º 3 (16 de mayo de 2021): 16–25. http://dx.doi.org/10.18287/2409-4579-2020-6-3-16-25.

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This paper presents the results of a numerical study of synchronization of pendulums, chronometers, and mechanical clocks suspended from a common movable beam. An auxiliary problem is considered about the oscillations of a pendulum with a swinging weight, then the mutual synchronization of free vibrations of two and four pendulums (and pendulums with the supply of a moment pulse-clock) on a common movable spring-loaded beam. It is shown that in the considered simplest configuration, mutual synchronization (equality of frequencies or oscillation periods) is performed with high efficiency. The frequency of synchronized oscillations of the pendulums is close to the frequency of vibrations of the platform in a wide range of changes in its rigidity. The degree of connectivity of pendulums and synchronization of their oscillations is determined by the Strouhal number. Synchronization of clocks does not guarantee the accuracy of their movement, which is achieved only when the Strouhal number is equal to one.

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32

Razzaghi, Kaveh y Ali Akbar Jalali. "A New Approach on Stabilization Control of an Inverted Pendulum, Using PID Controller". Advanced Materials Research 403-408 (noviembre de 2011): 4674–80. http://dx.doi.org/10.4028/www.scientific.net/amr.403-408.4674.

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Inverted Pendulum is a standard problem in control systems and is appropriate for depicting linear control principles. In this system there is an inverted pendulum connected to a cart that moves along a horizontal track with the help of a motor. We can determine the cart’s position and velocity from the motor and the rail track limits the cart’s movement in a bidirectional path. The pendulum’s angle of deviation and the position of the cart are determined by two sensors mounted on the system. Essential measurements and motor control signals are generated by a medium control board linking the computer and the system. Analysis of the results and yielding the control commands are done with the help of a MATLAB program. This is indeed a single input- dual output system because we must be able to control two parameters (pendulum’s angle and cart’s position) with just one control signal to the motor. Since the PID (Proportional Integral Derivative) controller is usually proper for SISO (Single Input Single Output) systems, we are eager to propose a procedure to control one of these parameters underneath the other. In this paper two tactics are described: 1. controlling the cart’s position beneath the pendulum’s angle, and 2. controlling the pendulum’s angle beneath the cart’s position. Regarding the results, one method is proven to be superior. We also mention some practical considerations in this paper.

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33

Zhang, Hong Zhou y Wei Wang. "Application of the Improved BP Neural Network in Optimization Design of Control System of Simple Pendulum Surface Plate". Advanced Materials Research 718-720 (julio de 2013): 1682–86. http://dx.doi.org/10.4028/www.scientific.net/amr.718-720.1682.

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According to the characteristics of large angle of pendulum movement, in order to ensure the stability of the fixed plate motion pendulum, to analysis quantitatively the relation of oscillation angle and plate movement, it designed an automatic flat control system with STC89C52RC as the core of control chip, collected the information of oscillation angle by the sensor of angle,controls the angle of surface plate by advanced four phase stepper motor,uses the improved BP neural network to real-time correction in the software design part, the control system has high control precision, the stability and speedability of control system of surface plate were improved by measuring .

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34

Černý, Michal, Michal Dzurilla, Miloš Musil y Marek Gašparík. "Pendulum energy harvester with amplifier". Journal of Mechatronics, Electrical Power, and Vehicular Technology 9, n.º 1 (31 de julio de 2018): 25. http://dx.doi.org/10.14203/j.mev.2018.v9.25-31.

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This paper presents a new principle of inductive vibration power harvester. Harvester is a pendulum that uses energy capacitor which is the mass. The mass is connected to the pendulum via a gearbox to achieve greater movement of the pendulum that generates an electromagnetic voltage. The harvester is developed at a very low frequency (1-10 Hz) which uses the rectified magnetic fluxes. Magnets are statically placed in the harvester case, and relative motion is carried out by the coil. Magnets are static, and the coil moves due to the weight ratio of magnets which the steel leads of the magnetic flux and the coil itself. This paper is focused on a harvester with a mechanical amplifier with the proposed technique is brings the plow harvester access with an auxiliary force. The experimental results indicate that the optimal results of the harvester with an accumulator for the resonant zone are 3.75 Hz, 7 Hz, and 10 Hz.

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35

HATAKEYAMA, Naoya y Akira SHIMADA. "Movement Control Using Zero Dynamics of Two-wheeled Inverted Pendulum Robot". Transactions of the Society of Instrument and Control Engineers 44, n.º 3 (2008): 252–59. http://dx.doi.org/10.9746/ve.sicetr1965.44.252.

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36

Ohta, Ken, Koji Umegaki, Koji Murofushi y ZhiWei Luo. "Analysis of hammer movement based on a parametrically excited pendulum model". Procedia Engineering 2, n.º 2 (junio de 2010): 3197–203. http://dx.doi.org/10.1016/j.proeng.2010.04.132.

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37

Abe, Gyousei, Shigeki Nakaura y Mitsuji Sampei. "A16 Non-linear Control of an Inverted Pendulum using Vertical Movement". Proceedings of the Symposium on the Motion and Vibration Control 2005.9 (2005): 75–79. http://dx.doi.org/10.1299/jsmemovic.2005.9.75.

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38

HIRAKU, Norikazu y Shoju TONISHI. "A Case Study of Teaching Pendulum Movement with Conceptual Exchange Strategies". Journal of Research in Science Education 62, n.º 1 (30 de julio de 2021): 323–30. http://dx.doi.org/10.11639/sjst.21009.

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39

Kuczmann, Miklós. "State Space Based Linear Controller Design for the Inverted Pendulum". Acta Technica Jaurinensis 12, n.º 2 (26 de abril de 2019): 130–47. http://dx.doi.org/10.14513/actatechjaur.v12.n2.499.

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In a previous survey paper the detailed PID controller design to stabilize the inclination angle as well as the horizontal movement of an inverted pendulum system has been presented. In this paper the linear controller design based on the state space representation is shown step by step. Pendulum model is based on EulerLagrange modeling, and the nonlinear state space model is linearized in the unstable upward position, finally pole placement by Ackermann formula and Bass–Gura equation, moreover linear quadratic optimal control are presented. The pendulum has been inserted into a virtual reality laboratory, which is suitable to use in model based control teaching.

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40

Gaul, David, Arimin Mat, Donal O’Shea y Johann Issartel. "Impaired Visual Motor Coordination in Obese Adults". Journal of Obesity 2016 (2016): 1–8. http://dx.doi.org/10.1155/2016/6178575.

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Objective. To investigate whether obesity alters the sensory motor integration process and movement outcome during a visual rhythmic coordination task. Methods. 88 participants (44 obese and 44 matched control) sat on a chair equipped with a wrist pendulum oscillating in the sagittal plane. The task was to swing the pendulum in synchrony with a moving visual stimulus displayed on a screen. Results. Obese participants demonstrated significantly (p<0.01) higher values for continuous relative phase (CRP) indicating poorer level of coordination, increased movement variability (p<0.05), and a larger amplitude (p<0.05) than their healthy weight counterparts. Conclusion. These results highlight the existence of visual sensory integration deficiencies for obese participants. The obese group have greater difficulty in synchronizing their movement with a visual stimulus. Considering that visual motor coordination is an essential component of many activities of daily living, any impairment could significantly affect quality of life.

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41

Honjo, Toyoyuki, Akinori Nagano y Zhi-Wei Luo. "Parametrically excited inverted double pendulum and efficient bipedal walking with an upper body". Robotica 31, n.º 6 (22 de febrero de 2013): 875–86. http://dx.doi.org/10.1017/s0263574713000088.

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SUMMARYWalking locomotion involves complex movement of total center of mass. Not only the lower body behavior but also the upper body behavior affects the walking characteristics. Therefore, in this paper we derive the principle of parametrically excited inverted double pendulum to consider both lower body and upper body dynamics. We propose one approach to utilize the upper body behavior of the robot for energy efficient bipedal locomotion. In addition, we analyze the property of parametrically excited inverted double pendulum.

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42

Rahmawaty, Made. "Modeling, Simulation, and Stabilization of Two Wheels Inverted Pendulum Robot Using Hybrid Fuzzy Control". Indonesian Journal of electronics, electromedical engineering, and medical informatics 3, n.º 3 (27 de agosto de 2021): 93–98. http://dx.doi.org/10.35882/ijeeemi.v3i3.2.

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Two wheels inverted pendulum robot has the same characteristics as inverted pendulum, which are unstable and nonlinear. Nonlinear systems can often be linearized by approximating them by a linear system obtained by expanding the nonlinear solution in a series, and then linear techniques can be used. Fuzzy logic control is the famous nonlinear controller that has been used by researchers to analyze the performance of a system due to the easiness to understand the nature of the controller. This research discusses about two wheels inverted pendulum robot design using hybrid fuzzy control. There are two types of fuzzy control, namely Fuzzy Balanced Standing Control (FBSC) to maintain stability and Fuzzy Traveling and Position Control (FTPC) to maintain position. Based on Takagi-Sugeno (T-S) fuzzy model on two wheels inverted pendulum robot, FBSC control used Parallel Distributed Compensation (PDC) with pole placement technic. Based on two wheels inverted pendulum robot movement characteristics, FTPC was designed using Mamdani Fuzzy architecture. FTPC control is used to help FBSC to maintain robot stability and to adjust to the desired position. Simulation result shows that controller for two wheels inverted pendulum robot can stabilize pendulum angle in 0 radian and close to the desired position

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43

Bozek, Pavol. "Nonlinear modeling of the arm dynamics for the manipulators with reverse sensory validation". International Journal of Advanced Robotic Systems 16, n.º 6 (1 de noviembre de 2019): 172988141988954. http://dx.doi.org/10.1177/1729881419889546.

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The article deals with design issues of a system for regulating and controlling of the pendulum amplitude using an inertial system and a stepper motor. Basis of the solution is the pendulum theory and its mathematical model, respectively mathematical modeling of the pendulum trajectory. The aim is to derive the mathematical equation of the pendulum, calculate its oscillation period, and plot the oscillation of the pendulum model with damping or actuating in real time on a case study, as proposed by the authors. Following is the description of the inertial system, which is represented by an accelerometer and an angle sensor. Information about the velocity, acceleration, and position of the pendulum are acquired by mathematical derivations. The proposed hardware model and amplitude control algorithm for the microcontroller together with a brief description of the concluded experiments, which were focused on the accuracy of measurement and evaluation of all acquired data, is described next. The obtained results can be applied in the field of robotics, mainly due to its accuracy of trajectory calculation and plotting but also by reverse validation control of the movement of the monitored robot effectors.

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44

Arief, I. S., I. K. A. P. Utama, R. Hantoro, J. Prananda, Y. Safitri, T. A. Rachmattra y F. K. Rindu. "Response to Pontoon and Pendulum Motion at Wave Energy Converter Based on Pendulum System". E3S Web of Conferences 43 (2018): 01022. http://dx.doi.org/10.1051/e3sconf/20184301022.

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Energy conversion technology derived from ocean wave energy has been developed, one of them is the Power Wave sea-Pendulum System (PLTGL-SB). PLTGL composed of a pontoon which is subjected to the excitation force of ocean waves and will move the pendulum on the top of the pontoon. This study aims to analyze the best shape for PLTGL- SB’s pontoon and determine the largest deviation generated due to the movement of the pendulum vertical pontoon. Pontoon shapes studied are pontoon consisting of a large cylinder in the middle and there are two boats on the right and left, like a trimaran ship. Variations were made in this study consisted of variations of length and height boats, the draft height, wave period, the mass and the length of the pendulum arm. Best pontoon shape is determined by simulating the shape of a pontoon with Computational Fluid Dynamic (CFD). Pendulum deviation obtained by mathematical modeling pontoon two degrees of freedom (roll) and pendulum. Based on the chart Response Amplitude Operator (RAO) pontoon shape is best for PLTGL-SB is a pontoon with a 2/3 full large cylinder diameter, 1.5 cm height boats, catamarans length of 41.5 cm. Based on the results of a mathematical model of the largest deviation of the pendulum is generated when the pontoon is placed in the period of 0.8 s, with a mass and pendulum arm lengths are 19.9 g and 10.6 cm.

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45

Stawicki, Piotr y Ivan Volosyak. "Comparison of Modern Highly Interactive Flicker-Free Steady State Motion Visual Evoked Potentials for Practical Brain–Computer Interfaces". Brain Sciences 10, n.º 10 (28 de septiembre de 2020): 686. http://dx.doi.org/10.3390/brainsci10100686.

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Motion-based visual evoked potentials (mVEP) is a new emerging trend in the field of steady-state visual evoked potentials (SSVEP)-based brain–computer interfaces (BCI). In this paper, we introduce different movement-based stimulus patterns (steady-state motion visual evoked potentials—SSMVEP), without employing the typical flickering. The tested movement patterns for the visual stimuli included a pendulum-like movement, a flipping illusion, a checkerboard pulsation, checkerboard inverse arc pulsations, and reverse arc rotations, all with a spelling task consisting of 18 trials. In an online experiment with nine participants, the movement-based BCI systems were evaluated with an online four-target BCI-speller, in which each letter may be selected in three steps (three trials). For classification, the minimum energy combination and a filter bank approach were used. The following frequencies were utilized: 7.06 Hz, 7.50 Hz, 8.00 Hz, and 8.57 Hz, reaching an average accuracy between 97.22% and 100% and an average information transfer rate (ITR) between 15.42 bits/min and 33.92 bits/min. All participants successfully used the SSMVEP-based speller with all types of stimulation pattern. The most successful SSMVEP stimulus was the SSMVEP1 (pendulum-like movement), with the average results reaching 100% accuracy and 33.92 bits/min for the ITR.

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46

Mohammad Reza, Bahrami. "Mechanics of Electrical Transmission Line Robot Inspector: Pendulum as a Dynamic Vibration Absorber". E3S Web of Conferences 162 (2020): 03004. http://dx.doi.org/10.1051/e3sconf/202016203004.

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The purpose of this article is to design a new dynamic vibration absorber (DVA) and create a mathematical model to analyze the electrical transmission lines inspection robot movement on the line. First, the vibration of the electrical line while the robot inspector moves along it has been modeled considering the conductor as a stretched string and the robot as a moving load. It follows by using a double pendulum as the dynamic vibration absorber. To better understanding the performance of the DVA, the results are compared with the model in which a robot inspector is considered as a pendulum with a suspension base (here the conductor). This example shows the possibility of usage of the double pendulum as the DVA in electrical transmission inspection robots.

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47

Lanska, D. J. "Mitchell's case of "pendulum spasms": Psychogenic movement disorder considered as male hysteria". Neurology 84, n.º 4 (26 de enero de 2015): 424–29. http://dx.doi.org/10.1212/wnl.0000000000001192.

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48

Ramos, L. M., C. R. N. Reis, L. B. Calheiro y A. M. B. Goncalves. "Use of Arduino to observe the chaotic movement of a magnetic pendulum". Physics Education 56, n.º 1 (4 de diciembre de 2020): 015013. http://dx.doi.org/10.1088/1361-6552/abc796.

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49

Gutnik, B., H. Mackie, G. Hudson y C. Standen. "How close to a pendulum is human upper limb movement during walking?" HOMO 56, n.º 1 (mayo de 2005): 35–49. http://dx.doi.org/10.1016/j.jchb.2004.09.002.

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50

Oka, Hiroya, Yuji Maruki, Haruo Suemitsu y Takami Matsuo. "Nonlinear control for rotational movement of cart-pendulum system using homoclinic orbit". International Journal of Control, Automation and Systems 14, n.º 5 (22 de septiembre de 2016): 1270–79. http://dx.doi.org/10.1007/s12555-015-0255-0.

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