Morphological computation of multi-gaited robot locomotion based on free vibration.

In recent years, there has been increasing interest in the study of gait patterns in both animals and robots, because it allows us to systematically investigate the underlying mechanisms of energetics, dexterity, and autonomy of adaptive systems. In particular, for morphological computation research, the control of dynamic legged robots and their gait transitions provides additional insights into the guiding principles from a synthetic viewpoint for the emergence of sensible self-organizing behaviors in more-degrees-of-freedom systems. This article presents a novel approach to the study of gait patterns, which makes use of the intrinsic mechanical dynamics of robotic systems. Each of the robots consists of a U-shaped elastic beam and exploits free vibration to generate different locomotion patterns. We developed a simplified physics model of these robots, and through experiments in simulation and real-world robotic platforms, we show three distinctive mechanisms for generating different gait patterns in these robots.

Damping behavior of continuous fiber/metal composite materials by the free vibration method

Fiber metal laminates (FML) offer significant improvements over current available materials for aircraft structures due to their excellent mechanical characteristics and relatively low density. Non-destructive testing techniques are being used in the characterization of composite materials. Among these, vibration testing is one of the most used tools because it allows the determination of the mechanical properties. In this work, the viscoelastic properties such as elastic (E') and viscous (E) responses were obtained for aluminum 2024 alloy; carbon fiber/epoxy; glass fiber/epoxy and their hybrids aluminum 2024 alloy/carbon fiber/epoxy and aluminum 2024 alloy/glass fiber/epoxy composites. The experimental results were compared to calculated E modulus values by using the composite micromechanics approach. For all specimens studied, the experimental values showed good agreement with the theoretical values. The damping behavior, i.e. The storage modulus and the loss factor, from the aluminum 2024 alloy and fiber epoxy composites can be used to estimate the viscoelastic response of the hybrid FML. (c) 2005 Elsevier Ltd. All rights reserved.

A Comparison of the Effects of Nonlinear Damping on the Free Vibration of a Single-Degree-of-Freedom System

This article concerns the free vibration of a single-degree-of-freedom (SDOF) system with three types of nonlinear damping. One system considered is where the spring and the damper are connected to the mass so that they are orthogonal, and the vibration is in the direction of the spring. It is shown that, provided the displacement is small, this system behaves in a similar way to the conventional SDOF system with cubic damping, in which the spring and the damper are connected so they act in the same direction. For completeness, these systems are compared with a conventional SDOF system with quadratic damping. By transforming all the equations of motion of the systems so that the damping force is proportional to the product of a displacement dependent term and velocity, then all the systems can be directly compared. It is seen that the system with cubic damping is worse than that with quadratic damping for the attenuation of free vibration. [DOI: 10.1115/1.4005010]

Evaluation by Free Vibration Method of Moisture Absorption Effects in Polyamide/Carbon Fiber Laminates

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

On the undamped free vibration of a mass interacting with a Hertzian contact stiffness

Three methods are used to determine the natural frequency of undamped free vibration of a mass interacting with a Hertzian contact stiffness. The exact value is determined using the first integral of motion. The harmonic balance method is used on a transformed equation for an approximate solution, and the multiple scales method is used on an approximate equation. The maximum initial displacement avoiding contact loss is also determined, and the corresponding exact natural frequency is also obtained analytically. The methods are evaluated by studying the free vibration of an elastic sphere on a flat rigid surface. © 2011 Elsevier Ltd © 2011 Elsevier Ltd. All rights reserved.

Analysis of the free vibration of rectangular plates with central cut-outs using the discrete Ritz method

We present an analysis of the free vibration of plates with internal discontinuities due to central cut-outs. A numerical formulation for a basic L-shaped element which is divided into appropriate sub-domains that are dependent upon the location of the cut-out is used as the basic building element. Trial functions formed to satisfy certain boundary conditions are employed to define the transverse deflection of each sub-domain. Mathematical treatments in terms of the continuities in displacement, slope, moment, and higher derivatives between the adjacent sub-domains are enforced at the interconnecting edges. The energy functional results, from the proper assembly of the coupled strain and kinetic energy contributions of each sub-domain, are minimized via the Ritz procedure to extract the vibration frequencies and. mode shapes of the plates. The procedures are demonstrated by considering plates with central cut-outs that are subjected to two types of boundary conditions. (C) 2003 Elsevier Ltd. All rights reserved.

Damage assessment in structures using vibration characteristics

Changes in load characteristics, deterioration with age, environmental influences and random actions may cause local or global damage in structures, especially in bridges, which are designed for long life spans. Continuous health monitoring of structures will enable the early identification of distress and allow appropriate retrofitting in order to avoid failure or collapse of the structures. In recent times, structural health monitoring (SHM) has attracted much attention in both research and development. Local and global methods of damage assessment using the monitored information are an integral part of SHM techniques. In the local case, the assessment of the state of a structure is done either by direct visual inspection or using experimental techniques such as acoustic emission, ultrasonic, magnetic particle inspection, radiography and eddy current. A characteristic of all these techniques is that their application requires a prior localization of the damaged zones. The limitations of the local methodologies can be overcome by using vibration-based methods, which give a global damage assessment. The vibration-based damage detection methods use measured changes in dynamic characteristics to evaluate changes in physical properties that may indicate structural damage or degradation. The basic idea is that modal parameters (notably frequencies, mode shapes, and modal damping) are functions of the physical properties of the structure (mass, damping, and stiffness). Changes in the physical properties will therefore cause changes in the modal properties. Any reduction in structural stiffness and increase in damping in the structure may indicate structural damage. This research uses the variations in vibration parameters to develop a multi-criteria method for damage assessment. It incorporates the changes in natural frequencies, modal flexibility and modal strain energy to locate damage in the main load bearing elements in bridge structures such as beams, slabs and trusses and simple bridges involving these elements. Dynamic computer simulation techniques are used to develop and apply the multi-criteria procedure under different damage scenarios. The effectiveness of the procedure is demonstrated through numerical examples. Results show that the proposed method incorporating modal flexibility and modal strain energy changes is competent in damage assessment in the structures treated herein.

Hybrid stiff-string-polynomial basis functions for vibration analysis of high speed rotating beams

A new finite element is developed for free vibration analysis of high speed rotating beams using basis functions which use a linear combination of the solution of the governing static differential equation of a stiff-string and a cubic polynomial. These new shape functions depend on rotation speed and element position along the beam and account for the centrifugal stiffening effect. The natural frequencies predicted by the proposed element are compared with an element with stiff-string, cubic polynomial and quintic polynomial shape functions. It is found that the new element exhibits superior convergence compared to the other basis functions.

Bending, vibration and buckling of simply supported thick orthotropic rectangular plates and laminates

This paper presents a unified exact analysis for the statics and dynamics of a class of thick laminates. A three-dimensional, linear, small deformation theory of elasticity solution is developed for the bending, vibration and buckling of simply supported thick orthotropic rectangular plates and laminates. All the nine elastic constants of orthotropy are taken into account. The solution is formally exact and leads to simple infinite series for stresses and displacements in flexure, forced vibration and "beam-column" type problems and to closed form characteristic equations for free vibration and buckling problems. For free vibration of plates, the present analysis yields a triply infinite spectrum of frequencies instead of only one doubly infinite spectrum by thin plate theory or three doubly infinite spectra by Reissner-Mindlin type analyses. Some numerical results are presented for plates and laminates. Comparison of results from thin plate, Reissner and Mindlin analyses with these yield some important conclusions regarding the validity and effects of the assumptions made in the approximate theories.

An exact analysis for vibration of simply-supported homogeneous and laminated thick rectangular plates

A three-dimensional linear, small deformation theory of elasticity solution by the direct method is developed for the free vibration of simply-supported, homogeneous, isotropic, thick rectangular plates. The solution is exact and involves determining a triply infinite sequence of eigenvalues from a doubly infinite set of closed form transcendental equations. As no restrictions are placed on the thickness variation of stresses or displacements, this formulation yields a triply infinite spectrum of frequencies, instead of only one doubly infinite spectrum by thin plate theory and three doubly infinite spectra by Mindlin's thick plate theory. Further, the present analysis yields symmetric thickness modes which neither of the approximate theories can identify. Some numerical results from the two approximate theories are compared with those from the present solution and some important conclusions regarding the effect of the assumptions made in the approximate theories are drawn. The thickness variations of stresses and displacements are also discussed. The analysis is readily extended for laminated plates of isotropic materials. Numerical results are also given for three-ply laminates, and are used to assess the accuracy of thin plate theory predictions for laminates. Extension to general lateral surface conditions and forced vibrations is indicated.

Free vibrations of non-linear cubic spring mass systems in the presence of coulomb damping

An exact solution for the free vibration problem of non-linear cubic spring mass system with Coulomb damping is obtained during each half cycle, in terms of elliptic functions. An expression for the half cycle duration as a function of the mean amplitude during the half cycle is derived in terms of complete elliptic integrals of the first kind. An approximate solution based on a direct linearization method is developed alongside this method, and excellent agreement is obtained between the results gained by this method and the exact results. © 1970 Academic Press Inc. (London) Limited.

Viscoelastic phenomenology based structure assignment for closed-loop vibration control of a beam with sensors and actuators

In this paper we incorporate a novel approach to synthesize a class of closed-loop feedback control, based on the variational structure assignment. Properties of a viscoelastic system are used to design an active feedback controller for an undamped structural system with distributed sensor, actuator and controller. Wave dispersion properties of onedimensional beam system have been studied. Efficiency of the chosen viscoelastic model in enhancing damping and stability properties of one-dimensional viscoelastic bar have been analyzed. The variational structure is projected on a solution space of a closed-loop system involving a weakly damped structure with distributed sensor and actuator with controller. These assign the phenomenology based internal strain rate damping parameter of a viscoelastic system to the usual elastic structure but with active control. In the formulation a model of cantilever beam with non-collocated actuator and sensor has been considered. The formulation leads to the matrix identification problem of two dynamic stiffness matrices. The method has been simplified to obtain control system gains for the free vibration control of a cantilever beam system with collocated actuator-sensor, using quadratic optimal control and pole-placement methods.

Sensitivity of polyvinylidene fluoride films to mechanical vibration modes and impact after optimizing stretching conditions

The β-phase of polyvinylidene fluoride (PVDF) is well known for its piezoelectric properties. PVDF films have been developed using solvent cast method. The films thus produced are in α-phase. The α-phase is transformed to piezoelectric β-phase when the film is hot-stretched with various different stretching factors at various different temperatures. The films are then characterized in terms of their mechanical properties and surface morphological changes during the transformation from α- to β-phases by using X-ray diffraction, differential scanning calorimeter, Raman spectra, Infrared spectra, tensile testing, and scanning electron microscopy. The films showed increased crystallinity with stretching at temperature up to 80°C. The optimum conditions to achieve β-phase have been discussed in detail. The fabricated PVDF sensors have been tested for free vibration and impact on plate structure, and its response is compared with conventional piezoelectric wafer type sensor. The resonant and antiresonant peaks in the frequency response of PVDF sensor match well with that of lead zirconate titanate wafer sensors. Effective piezoelectric properties and the variations in the frequency response spectra due to free vibration and impact loading conditions are reported. POLYM. ENG. SCI., 2012. © 2012 Society of Plastics Engineers.

Closed-form solutions for non-uniform Euler-Bernoulli free-free beams

In this paper, the free vibration of a non-uniform free-free Euler-Bernoulli beam is studied using an inverse problem approach. It is found that the fourth-order governing differential equation for such beams possess a fundamental closed-form solution for certain polynomial variations of the mass and stiffness. An infinite number of non-uniform free-free beams exist, with different mass and stiffness variations, but sharing the same fundamental frequency. A detailed study is conducted for linear, quadratic and cubic variations of mass, and on how to pre-select the internal nodes such that the closed-form solutions exist for the three cases. A special case is also considered where, at the internal nodes, external elastic constraints are present. The derived results are provided as benchmark solutions for the validation of non-uniform free-free beam numerical codes. (C) 2013 Elsevier Ltd. All rights reserved.

Vibration analysis of laminated shells using a refined shear deformation theory

A previously published refined shear deformation theory is used to analyse free vibration of laminated shells. The theory includes the assumption that the transverse shear strains across any two layers are linearly dependent on each other. The theory has the same dependent variables as first-order shear deformation theory, hut the set of governing differential equations is of twelfth order. No shear correction factors are required. Free vibration of symmetric cross-ply laminated cylindrical shells, symmetric and antisymmetric cross-ply cylindrical panels is calculated. The numerical results are in good agreement with those from three-dimensional elasticity theory.